path_optimizer

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I don't know the rule for choosing infeasible or feasible points in DP process as shown in function 'graphSearchDp(PathOptimizationNS::ReferencePath *)' of file named **reference_path_smoother.cpp**. ```cpp if ((ref_curvature < 0 &&...

bryanibit

关于spline插值后计算曲率的问题

6

您好，不知道您有没有单独测试过，以路径长度s为自变量，分别对x和y进行三次样条插值然后再计算曲率，得到的曲率并不是光滑连续的   上面两幅图片，第一张是我先从一条五阶贝塞尔曲线上采点 (五阶贝塞尔曲线长度为1.68 m，我以0.01 m间隔进行采样)，然后再用三次样条分别对x和y插值得到的结果，第二张图片是对应的曲率计算结果。 我尝试以x为自变量y为因变量进行插值，得到的曲率结果如下  首尾的曲率看上去不是连续的，中间部分也有一些毛刺

nkuwenjian

你好，请问有相关论文和资料吗

Forrest-Z

代码可以在ubuntu20.04上使用ros noetic 运行吗？

5

rviz 中 MarkArray 会出现 StatusError, 不知道怎么搞

winner958

About constrain matrix of transition

2

Can you write the system transfer equation？ I have confusion when read code in function of setConstraintMatrix

ichenne

[build] Given package 'path_optimizer' is not in the workspace

1

I am a beginner of ROS. I followed your instruction to build package. After I input this command, the following error occured. Could you please give some hints to me....

xinchu911

Path boundary

1

Have you consider using precise path boundary , using four circles substitute for vehicle body may reduce the solution space ?

LebronRemonJames

stitch path

4

Do you consider using stitch path in optimizer process ? If reference line has changed sharply , such as lane change , it would be uncomfortable

LebronRemonJames

Question about License

2

Are there any license terms for using this source code? I would like to use some of the codes into our projects, and we would like to know whether that...

mitsudome-r

Hi, I would like to know where do the -cos(theta) and -sin(theta) come from in function setConstraintMatrix (tension_smoother.cpp). Is it related to the frenet coordinates transformation? If it is possible,...

ImCabbage