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trajoptlib

README.md

TrajoptLib

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This library is used to generate time-optimal trajectories for FRC robots.

Trajectory optimization works by mathematically formulating the problem of travelling along a given path with the minimum possible time. The physical constraints of motor power capacity are applied along with waypoint constraints, which force the robot to begin and end a segment of the trajectory with a certain state. A mathematical solver must vary the position of the robot at each discrete timestamp to minimize total time.

Features

  • Currently only supports swerve drives with arbitrary module configurations
  • Position and velocity constraints at each waypoint
  • Keep-out circle and polygons
  • Custom physical constraints of robot
  • Custom bumper shape

Build

Dependencies

  • C++20 compiler
    • On Windows 10 or greater, install Visual Studio Community 2022 and select the C++ programming language during installation
    • On Ubuntu 22.04 or greater, install GCC 11 via sudo apt install g++-11
    • On macOS 13.3 or greater, install the Xcode 14 command-line build tools via xcode-select --install
  • CMake 3.21 or greater
    • On Windows, install from the link above
    • On Linux, install via sudo apt install cmake
    • On macOS, install via brew install cmake
  • Rust compiler
  • Sleipnir
  • Catch2 (tests only)

Library dependencies which aren't installed locally will be automatically downloaded and built by CMake.

C++ library

On Windows, open a Developer PowerShell. On Linux or macOS, open a Bash shell.

# Clone the repository
git clone git@github.com:SleipnirGroup/TrajoptLib
cd TrajoptLib

# Configure
cmake -B build -S .

# Build
cmake --build build

# Test
ctest --test-dir build --output-on-failure

# Install
cmake --install build --prefix pkgdir

The following build types can be specified via -DCMAKE_BUILD_TYPE during CMake configure:

  • Debug
    • Optimizations off
    • Debug symbols on
  • Release
    • Optimizations on
    • Debug symbols off
  • RelWithDebInfo (default)
    • Release build type, but with debug info
  • MinSizeRel
    • Minimum size release build

Rust library

On Windows, open a Developer PowerShell. On Linux or macOS, open a Bash shell.

# Clone the repository
git clone git@github.com:SleipnirGroup/TrajoptLib
cd TrajoptLib

cargo build