minsnappolytraj
Generate minimum snap trajectory through waypoints
Syntax
Description
[
generates a minimum snap polynomial trajectory that achieves a given set of input waypoints
with their corresponding time points. The function returns positions, velocities,
accelerations, jerks, and snaps at the given number of samples
q
,qd
,qdd
,qddd
,qdddd
,pp
,tPoints
,tSamples
] = minsnappolytraj(waypoints
,timePoints
,numSamples
)numSamples
. The function also returns the piecewise polynomial
pp
form of the polynomial trajectory with respect to time, as well as
the time points tPoints
, and the sample times
tSamples
.
[
specifies options using one or more name-value pair arguments in addition to the input
arguments from the previous syntax.
For example,
q
,qd
,qdd
,qddd
,qdddd
,pp
,tPoints
,tSamples
] = minsnappolytraj(___,Name=Value)minsnappolytraj(waypoints,timePoints,numSamples,VelocityBoundaryCondition=[1 0 -1
-1; 1 1 1 -1])
generates a two-dimensional minimum snap trajectory and specifies
the velocity boundary conditions in each dimension for each waypoint.
Examples
Input Arguments
Output Arguments
References
[1] Bry, Adam, Charles Richter, Abraham Bachrach, and Nicholas Roy. “Aggressive Flight of Fixed-Wing and Quadrotor Aircraft in Dense Indoor Environments.” The International Journal of Robotics Research, 34, no. 7 (June 2015): 969–1002.
[2] Richter, Charles, Adam Bry, and Nicholas Roy. “Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments." Paper presented at the International Symposium of Robotics Research (ISRR 2013), 2013.