Minimum snap trajectory generators can generate smooth trajectories that have minimum snap, pass through specified waypoints and are subject to velocity and acceleration constraints.
pip install mistgen
from mistgen.mist import mist_generator
myMistGen = mist_generator()
xxs,yys,tts = myMistGen.mist_2d_gen(waypts_ori,v0,a0,ve,ae,T)
vaj_xy = myMistGen.mist_2d_vaj_gen(xxs,yys,tts)
myMistGen.mist_2d_vis(waypts_ori,xxs,yys,tts,vaj_xy,show_wp=True,show_mist_xy=True,show_avj=True,same_plot=False)
# or all in one:
mistTraj = myMistGen.mist_2d_gen_all(waypts_ori,v0,a0,ve,ae,T,show_wp=True,show_mist_xy=True,show_avj=False,same_plot=False)
A simple example:
def main_demo_v010():
ax = [0.0, 5.0,5.0,0.0]
ay = [0.0, 0.0,6.0,6.0]
waypts_ori = np.array([ax,ay])
T = 10
v0 = np.array([0,0])
a0 = np.array([0,0])
ve = np.array([0,0])
ae = np.array([0,0])
myMistGen = mist_generator()
xxs,yys,tts = myMistGen.mist_2d_gen(waypts_ori,v0,a0,ve,ae,T)
vaj_xy = myMistGen.mist_2d_vaj_gen(xxs,yys,tts)
myMistGen.mist_2d_vis(waypts_ori,xxs,yys,tts,vaj_xy,True,True,True)
yaw_rad,yaw_deg = myMistGen.calc_yaw(vaj_xy[0],vaj_xy[3])
For more example, please do the following:
from mistgen.examples.main_demo_v010 import main_demo_v010
from mistgen.examples.main_demo_v02x import main_demo_v020
from mistgen.examples.main_demo_v02x import main_demo_v021
Some utils functions:
from utils.T_functions import arrangeT
from utils.T_functions import init_T
from utils.cvxopt_qp import quadprog
from utils.other_utils import computeQ
from utils.other_utils import calc_tvec
from utils.other_utils import re_shape_vaj
from utils.other_utils import poly_val
This source code is released under GNU GENERAL PUBLIC LICENSE Version 3
license.
For more questions, please contact author: Zhaoliang (zhz03@g.ucla.edu)
[1] Minimum Snap Trajectory Generation and Control for Quadrotors