TOPP FOR RIGID-BODY MOTIONS

This library includes tools to plan fast trajectories on the the space of rotation matrices SO(3) and the space of three-dimensional rigid body motions SE(3) under kinodynamic constraints (bounds on angular velocities, accelerations and torques) in a cluttered environment.

For further details, please see more at our paper: "H. Nguyen, Q.-C. Pham. Time-optimal path parameterization of rigid-body motions: applications to spacecraft reorientation. Journal of Guidance, Control, and Dynamics, vol. 39(7), pp. 1665-1669, 2016" [preprint]

Requirements

• As this implementation is an extention of TOPP (time-optimal Path Parameterization), read instructions in following link to install TOPP, OpenRAVE and prerequisites: https://github.com/quangounet/TOPP

• Clone this TOPP-SO3 folder, then go to that repository and run

  $ sudo python setup.py install

Examples

Please try the test files in the examples folder (test-SO3.py and test-SE3.py)

Below is the video demonstrating the resulting trajectories found by our algorithm.

https://youtu.be/heM7uxGrfVc