mav_trajectory_generation Namespace Reference

Classes
struct	DimensionGroup
	Describes a contiguous slice of trajectory dimensions sharing a common velocity/acceleration budget. More...

Functions
template<int DerivativeToOptimize>
std::optional< Segment::Vector >	optimize_path (const std::vector< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &start_vel, double v_max, double a_max)
	Plans a minimum-derivative polynomial path through a sequence of distinct waypoints. More...
template<int DerivativeToOptimize>
Segment	get_constant_segment (const Eigen::VectorXd &value, double duration)
	Creates a zero-velocity constant-position polynomial segment. More...
template<int DerivativeToOptimize>
std::optional< Trajectory >	calculate_trajectory (const std::vector< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &start_vel, double v_max, double a_max, double min_segment_time)
	Plans a trajectory through waypoints, inserting constant segments at duplicate points. More...
template<int DerivativeToOptimize>
std::optional< Trajectory >	calculate_trajectory_multidim (const std::vector< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &start_vel, const std::vector< DimensionGroup > &groups, double min_segment_time)
	Plans a multi-DOF trajectory by solving each dimension group independently and concatenating the results. More...

Function Documentation

calculate_trajectory()

template<int DerivativeToOptimize>

std::optional<Trajectory> mav_trajectory_generation::calculate_trajectory	(	const std::vector< Eigen::VectorXd > &	waypoints,
		const Eigen::VectorXd &	start_vel,
		double	v_max,
		double	a_max,
		double	min_segment_time
	)

Plans a trajectory through waypoints, inserting constant segments at duplicate points.

Consecutive identical waypoints are replaced by a constant-position segment of duration min_segment_time. Runs of distinct waypoints are planned with optimize_path(). Resulting segments are concatenated into a single Trajectory.

Template Parameters

DerivativeToOptimize

Derivative order to minimise

Parameters

waypoints	[in] Ordered waypoints; must contain at least two entries
start_vel	[in] Initial velocity vector
v_max	[in] Maximum velocity magnitude constraint
a_max	[in] Maximum acceleration magnitude constraint
min_segment_time	[in] Duration (s) of constant segments inserted at duplicate waypoints

Returns

Combined trajectory, or nullopt if planning fails for any sub-path

calculate_trajectory_multidim()

template<int DerivativeToOptimize>

std::optional<Trajectory> mav_trajectory_generation::calculate_trajectory_multidim	(	const std::vector< Eigen::VectorXd > &	waypoints,
		const Eigen::VectorXd &	start_vel,
		const std::vector< DimensionGroup > &	groups,
		double	min_segment_time
	)

Plans a multi-DOF trajectory by solving each dimension group independently and concatenating the results.

Splits the M-dimensional waypoints into sub-problems defined by groups, calls calculate_trajectory on each sub-problem, then appends all resulting trajectories along the dimension axis. This allows different axes (e.g. XY vs Z vs Yaw) to have independent kinematic budgets.

Template Parameters

DerivativeToOptimize

Derivative order to minimise

Parameters

waypoints	[in] M-dimensional waypoints; must contain at least two entries
start_vel	[in] M-dimensional initial velocity
groups	[in] Dimension groups that together cover all M dimensions
min_segment_time	[in] Duration (s) inserted at duplicate waypoints

Returns

Combined multi-DOF trajectory, or nullopt if any group fails

get_constant_segment()

template<int DerivativeToOptimize>

Segment mav_trajectory_generation::get_constant_segment	(	const Eigen::VectorXd &	value,
		double	duration
	)

Creates a zero-velocity constant-position polynomial segment.

Template Parameters

DerivativeToOptimize

Derivative order used to size the polynomial (must match the rest of the trajectory)

Parameters

value	[in] Position value to hold for the duration of the segment
duration	[in] Segment duration in seconds

Returns

Constant polynomial segment of the requested duration

optimize_path()

template<int DerivativeToOptimize>

std::optional<Segment::Vector> mav_trajectory_generation::optimize_path	(	const std::vector< Eigen::VectorXd > &	waypoints,
		const Eigen::VectorXd &	start_vel,
		double	v_max,
		double	a_max
	)

Plans a minimum-derivative polynomial path through a sequence of distinct waypoints.

Constructs a nonlinear polynomial optimisation problem with velocity and acceleration magnitude constraints, solves it, and scales segment times to guarantee the constraints are met. The starting velocity is constrained to start_vel; the endpoint has all derivatives up to DerivativeToOptimize constrained to zero by makeStartOrEnd().

Template Parameters

DerivativeToOptimize

Derivative order to minimise (e.g. ACCELERATION)

Parameters

waypoints	[in] Ordered waypoints; must contain at least two distinct points
start_vel	[in] Initial velocity vector of the same dimension as the waypoints
v_max	[in] Maximum velocity magnitude constraint
a_max	[in] Maximum acceleration magnitude constraint

Returns

Planned trajectory segments, or nullopt if optimisation fails