trajgen's Introduction

trajgen

trajgen is a minimum trajectory generation library written for Rust - given a set of 3D points, desired times, and type of minimum trajectory, the library will calculate the appropriate order polynomials to ensure a smooth path (as well as smooth derivatives) through the points.

Features

minimum trajectory generation for velocity, acceleration, jerk and snap
calculate desired position, velocity, acceleration and further derivatives given time

Using trajgen

Simply add the following to your Cargo.toml file:

[dependencies]
trajgen = "*"

and now you can generate and use trajectories:

use trajgen::{TrajectoryGenerator, TrajectoryType, Point};

fn main() {
    let mut traj_gen = TrajectoryGenerator::new(TrajectoryType::Snap);

    // add waypoints for the trajectory
    let waypoints: Vec<Point> = vec![Point {x: 1., y: 2., z: 3., t: 0.},
                                     Point {x: 2., y: 3., z: 4., t: 1.},
                                     Point {x: 3., y: 4., z: 5., t: 2.}];
    // solve for given waypoints
    traj_gen.generate(&waypoints);

    // use the individual values in real-time, perhaps to control a robot
    let t = 0.24;
    let pos = traj_gen.get_position(t).unwrap();
    print!("Current desired position for time {} is {}", t, pos);

    let vel = traj_gen.get_velocity(t).unwrap();
    print!("Current desired velocity for time {} is {}", t, vel);

    let acc = traj_gen.get_acceleration(t).unwrap();
    print!("Current desired acceleration for time {} is {}", t, acc);

    // or get values for a range of times, perhaps to plot
    let path = traj_gen.get_positions(0.25, 0.75, 0.1);
}