PolyOpt

C++ version of https://github.com/ethz-asl/mav_trajectory_generation

Solve polynomial coefs with analytical solution or nonlinear optimization

Build

cd [package root directory]
mkdir poly # used to save trajectory data
mkdir build
cd build
cmake ..
make -j8

Test

run ./ test_poly_linear will generate a polynomial trajectory pass the given waypoints. Resulted trajectory data will be save in poly folder. You can visualize the trajecotory will python.

Example

References

• https://github.com/ethz-asl/mav_trajectory_generation