Package: trajectory-planning-helpers
DescriptionThis 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 componentsangle3pt: 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 (psi - pi/2).calc_normal_vectors_ahead: Calculate normalized normal vectors on the basis of headings psi (psi + pi/2).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_tangent_vectors: Calculate normalized tangent vectors on the basis of headings psi.calc_vel_profile: Calculate velocity profile on the basis of a forward/backward solver. Important: ax_max_machines
input must be inserted without drag resistance, i.e. simply by calculating F_x_drivetrain / m_vehcalc_vel_profile_brake: Calculate velocity profile on the basis of a pure forward solver.check_normals_crossing: Check if normal vectors of a given track have at least one crossing.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: Imports the required vehicle dynamics information from several files: ggv and ax_max_machines.import_veh_dyn_info_2: Imports local gg diagrams, required for local friction consideration.interp_splines: Interpolate splines to get points with a desired stepsize.interp_track: Interpolate track 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.nonreg_sampling: Function to sample in non-regular intervals (based on curvature) from a given track.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.Example filesThe folderexample_filescontains an exemplary track file (berlin_2018.csv), ggv (ggv.csv) and ax_ax_machines file
(ax_max_machines.csv). The two latter files can be easily imported (with checks) usingimport_veh_dyn_info. The
files are taken from our global trajectory planner repository which can be found onhttps://github.com/TUMFTM/global_racetrajectory_optimization.Solutions for possible installation problems (Windows)cvxpy,cythonor any other package requires aVisual C++ compiler-> Download the build tools for Visual Studio
2019 (https://visualstudio.microsoft.com/de/downloads/-> tools for Visual Studio 2019 -> build tools), install them and
chose theC++ build toolsoption to install the required C++ compiler and its dependenciesSolutions for possible installation problems (Ubuntu)matplotlibrequirestkinter-> can be solved bysudo apt install python3-tkPython.hrequiredquadprog-> can be solved bysudo apt install python3-devContact persons:Alexander Heilmeier,Tim Stahl.