TracPlanner

[typesAndErrors.h] user defined types and errors
[robotMath.h, robotMath.cpp] basic math functions, vector/circle/matrix calculation
[interpolate.h,interpolate.cpp] single axis trajectory planning, T profile and S profile
[trajectory.h,trajectory.cpp] multi-axises trajectory planning, 3D line/circle/bspline and 3D rotation
[planner.h,planner.cpp] planner for manipulator in 6D(3D translation and 3D rotation ) and planner for AGV in 3D(2D translation and 1D rotation)

multi-point 1D planning

3D circle trajectory

6D line trajectory

6D manipulator flange

6D manipulator joint

6D manipulator joint velocity

3D AGV

liyingzhi/TracPlanner