TrajectoryGenerator Class Reference

Helper utility class for generating time-parameterized constrained trajectories from waypoints. More...

#include <trajectory_generator.h>

Static Public Member Functions
static Trajectory	generate_trajectory (const std::vector< HermitePoint > &waypoints, const TrajectoryConfig &config)
	Generates a time-parameterized Trajectory from Hermite waypoints and a TrajectoryConfig.
static Trajectory	generate_trajectory (const std::vector< Pose2d > &waypoints, const TrajectoryConfig &config, double tangent_scale=1.2)
	Generates a time-parameterized Trajectory from simple Pose2d waypoints. Internal heuristics are used to compute optimal spline tangency (speed).
static Trajectory	generate_trajectory (const Pose2d &current_pose, units::Velocity current_velocity, const std::vector< Pose2d > &target_waypoints, TrajectoryConfig config, double tangent_scale=1.2)
	Splicing helper for On-The-Fly Replanning. Generates a new path starting precisely at current_pose, maintaining the units::momentum of current_velocity, and routing to the target_waypoints.

Detailed Description

Helper utility class for generating time-parameterized constrained trajectories from waypoints.

Member Function Documentation

generate_trajectory() [1/3]

Trajectory TrajectoryGenerator::generate_trajectory ( const Pose2d & current_pose, units::Velocity current_velocity, const std::vector< Pose2d > & target_waypoints, TrajectoryConfig config, double tangent_scale = 1.2 )

static

Splicing helper for On-The-Fly Replanning. Generates a new path starting precisely at current_pose, maintaining the units::momentum of current_velocity, and routing to the target_waypoints.

Parameters

current_pose	The robot's current instantaneous position and heading.
current_velocity	The robot's current forward speed.
target_waypoints	The remaining destinations.
config	The base config. start_velocity will be overwritten to match current_velocity.
tangent_scale	Fudge factor applied to tangent magnitudes.

generate_trajectory() [2/3]

Trajectory TrajectoryGenerator::generate_trajectory ( const std::vector< HermitePoint > & waypoints, const TrajectoryConfig & config )

static

Generates a time-parameterized Trajectory from Hermite waypoints and a TrajectoryConfig.

Parameters

waypoints	Vector of Hermite boundary waypoints (positions, tangents, second derivatives).
config	Trajectory configuration containing velocity limits, accelerations, direction, and constraints.

Returns

units::Time-parameterized Trajectory instance.

generate_trajectory() [3/3]

Trajectory TrajectoryGenerator::generate_trajectory ( const std::vector< Pose2d > & waypoints, const TrajectoryConfig & config, double tangent_scale = 1.2 )

static

Generates a time-parameterized Trajectory from simple Pose2d waypoints. Internal heuristics are used to compute optimal spline tangency (speed).

Parameters

tangent_scale

Scale factor applied to heuristic tangent magnitudes.

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The documentation for this class was generated from the following files:

• trajectory_generator.h
• trajectory_generator.cpp