Dynamic Traj Generator

Library for generating dynamic trajectories that changes over the time.

TODO:

• Remove ROS stuff
• PLOT 2D and 3D plots at the same time
• yamlcpp installation
• 3D plotting
• check Python Version for Matplotlib plotting purposes
• Plotting only in tests?
• Testing with Gtest
• Relate Trajectory Modifiers with uav speed and position !! IMPORTANTE
• Expand Time when modifiers are applied to mantain speed and acceleration constraints.
• Create Dynamic Segments

Bugs known:

• When dynamic waypoints are too close the previous gaussian modifies the actual waypoint trajectory

Dependencies:

• YamlCPP ($ sudo apt install libyaml-cpp* )

Test example

Compile code:

mkdir build && cd build
cmake .. -DBUILD_TESTING=ON && make

Run test from root directory:

./build/tests/dynamic_trajectory_generator_trajectory_test 

Plot results from root directory:

python3 tests/plot_results.py