Expand description
State Lattice Planner
Implements state lattice planning for path planning. Uses a model predictive trajectory generator to create smooth paths.
Based on:
- PythonRobotics State Lattice Planner by Atsushi Sakai
- “State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation”
Structs§
- Obstacle
Aware Plan Result - Result of obstacle-aware planning.
- State
Lattice - State Lattice Planner
- State
Lattice Config - Configuration for State Lattice Planner
- Target
Pose - Target state for planning
- Trajectory
- Generated trajectory