TrajoptLib

TrajoptLib is a library for generating time-optimal drivetrain trajectories subject to waypoint, kinematic, and dynamic constraints.

Features

• Currently only supports swerve drives with arbitrary module configurations
• Position and velocity constraints at each waypoint
• Keep-out circle and polygons
• Custom physical constraints of robot
• Custom bumper shape

Build

Dependencies

• C++23 compiler
  • On Windows 11 or greater, install Visual Studio Community 2022 and select the C++ programming language during installation
  • On Ubuntu 24.04 or greater, install GCC 14 via sudo apt install g++-14
  • On macOS 14 or greater, install the Xcode 15.3 command-line build tools via xcode-select --install
• CMake 3.21 or greater
  • On Windows, install from the link above
  • On Linux, install via sudo apt install cmake
  • On macOS, install via brew install cmake
• Rust compiler
• Sleipnir
• Catch2 (tests only)

Library dependencies which aren't installed locally will be automatically downloaded and built by CMake.

C++ library

On Windows, open a Developer PowerShell. On Linux or macOS, open a Bash shell.

# Clone the repository
git clone git@github.com:SleipnirGroup/Choreo
cd Choreo/trajoptlib
 
# Configure
cmake -B build -S .
 
# Build
cmake --build build
 
# Test
ctest --test-dir build --output-on-failure
 
# Install
cmake --install build --prefix pkgdir

The following build types can be specified via -DCMAKE_BUILD_TYPE during CMake configure:

• Debug
  • Optimizations off
  • Debug symbols on
• Release
  • Optimizations on
  • Debug symbols off
• RelWithDebInfo (default)
  • Release build type, but with debug info
• MinSizeRel
  • Minimum size release build

Rust library

On Windows, open a Developer PowerShell. On Linux or macOS, open a Bash shell.

# Clone the repository
git clone git@github.com:SleipnirGroup/Choreo
cd Choreo/trajoptlib
 
cargo build