Useful functions used for path and trajectory planning at TUM/FTM
Project description
Description
This repository provides some helper functions we frequently use in our trajectory planning software stack at FTM/TUM. Many of the functions are based on third order splines because we use them as a basis for our path planning. Please keep in mind that some of the functions are designed to work on a closed (race-) track and might therefore not work properly on a common street network.
List of components
angle3pt
: Calculates angle by turning from a to c around b.calc_ax_profile
: Calculate the longitudinal acceleration profile for a given velocity profile.calc_head_curv_an
: Analytical curvature calculation on the basis of third order splines.calc_head_curv_num
: Numerical curvature calculation.calc_normal_vectors
: Calculate normalized normal vectors on the basis of headings psi.calc_spline_lengths
: Calculate spline lengths.calc_splines
: Calculate splines for a (closable) path.calc_t_profile
: Calculate the temporal duration profile for a given velocity profile.calc_vel_profile
: Calculate velocity profile on the basis of a forward/backward solver.calc_vel_profile_brake
: Calculate velocity profile on the basis of a pure forward solver.conv_filt
: Filter a given signal using a 1D convolution (moving average) filter.create_raceline
: Function to create a raceline on the basis of the reference line and an optimization result.get_rel_path_part
: Get relevant part of a given path on the basis of a s position and a specified range.import_veh_dyn_info
: Import the required vehicle dynamics information from several files: ggv and ax_max_machines.interp_splines
: Interpolate splines to get points with a desired stepsize.interp_track_widths
: Interpolation function for track widths.iqp_handler
: Handler function to iteratively call the minimum curvature optimization.normalize_psi
: Normalize heading psi such that the interval [-pi, pi[ holds.opt_min_curv
: Minimum curvature optimization.opt_shortest_path
: Shortest path optimization.path_matching_global
: Match own vehicle position to a global (i.e. closed) path.path_matching_local
: Match own vehicle position to a local (i.e. unclosed) path.progressbar
: Commandline progressbar (to be called in a for loop).side_of_line
: Function determines if a point is on the left or right side of a line.spline_approximation
: Function used to obtain a smoothed track on the basis of a spline approximation.
Solutions for possible installation problems
- (Ubuntu)
matplotlib
requirestkinter
-> can be solved bysudo apt install python3-tk
- (Ubuntu)
Python.h
required forquadprog
-> can be solved bysudo apt install python3-dev
Contact persons: Alexander Heilmeier, Tim Stahl.
Project details
Release history Release notifications | RSS feed
Download files
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Source Distribution
Built Distribution
Close
Hashes for trajectory-planning-helpers-0.56.tar.gz
Algorithm | Hash digest | |
---|---|---|
SHA256 | 59bcb264affa4756197129e0012273484a54039c52829f025149d092b0ab6a64 |
|
MD5 | 5165fea1625edfa2729b174c587b5c02 |
|
BLAKE2b-256 | 2a0aa5264bbace63c91e44b095e50c714f6a1188769f6fbbc44b683255a09233 |
Close
Hashes for trajectory_planning_helpers-0.56-py3-none-any.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 6dd95dc75dbfddd92ce2ac8bd37a44f4c1660240470e4cf93157b22a110176bd |
|
MD5 | 3156d08b4b50d62c2e41d2066def537b |
|
BLAKE2b-256 | 45298bf8c11ac7a35b108bc800ff1ce99eea167ac5edf88c9789c1ff357cf762 |