This library is used to generate time-optimal trajectories for FRC robots.
Trajectory optimization works by mathematically formulating the problem of travelling along a given path with the minimum possible time. The physical constraints of motor power capacity are applied along with waypoint constraints, which force the robot to begin and end a segment of the trajectory with a certain state. A mathematical solver must vary the position of the robot at each discrete timestamp to minimize total time.
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.
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.
