TrajoptLib

This library is used to generate time-optimal trajectories for FRC robots.

Trajectory Optimization

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

Trajopt

• Currently only supports swerve drives with arbitray module configurations
• Position and velocity constraints at each waypoint
• Circle and polygon obstacle avoidance
• Custom physical constraints of robot
• Custom bumper shape

API

• Java and C++ API with almost complete parity
• CasADi dependencies bundled with Jar

Dependencies

• C++20 compiler
  • On Windows, install Visual Studio Community 2022 and select the C++ programming language during installation
  • On Linux, install GCC 11 or greater via sudo apt install gcc
  • On macOS, install the Xcode command-line build tools via xcode-select --install. Xcode 13 or later is required.
• CMake 3.24 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 (optional backend)
• CasADi (optional backend)
• Catch2 (tests only)

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

Build instructions

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

Clone the repository.

git clone [email protected]:SleipnirGroup/TrajoptLib
cd TrajoptLib

C++ library

# Configure with Sleipnir backend; automatically downloads library dependencies
cmake -B build -S . -DOPTIMIZER_BACKEND=sleipnir

# Configure with CasADi backend; automatically downloads library dependencies
cmake -B build -S . -DOPTIMIZER_BACKEND=casadi

# Build
cmake --build build

# Test
cd build
ctest
cd ..

# 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

cargo build --features sleipnir  # Sleipnir backend
cargo build --features casadi  # CasADi backend