caslabuiowa / optimalbeziertrajectorygeneration Goto Github PK

This looks super interesting and I don't understand much of it, but let me know if you'd like any help packaging it for distribution. I do understand that 😄.

Perfect job for trajectory generation and I've learned a lot, but I have a question about your program. In your work, for example, iterateSingleVehicle.py, the Vehicle is subject to several inequality constraints with min speed, max speed and max angular rate. Nevertheless, do you consider the dynamic equality constraints (i.e. dx=f(x,u) ) ? The Dubin cars and UAVs have different dynamic constraints, and I can't find those constraints in your code.

Hello,
This the full output of running the file "bezier.py"

Checking for collisions, 1 means none, 0 means collision
C1 and C2
Traceback (most recent call last):
  File "bezier.py", line 1814, in <module>
    print(_collCheckBez2Bez(c1, c2))
  File "bezier.py", line 1581, in _collCheckBez2Bez
    c1 = Bezier([x1, y1, z1])
  File "bezier.py", line 166, in __init__
    super().__init__(cpts=cpts, tau=tau, t0=t0, tf=tf)
  File "bezier.py", line 58, in __init__
    if cpts.ndim == 1:
AttributeError: 'list' object has no attribute 'ndim'

I'm using version python3.8 with version 1.18.4 of numpy.
This error also happens when running the code from the Examples folder

in the function "bezProductCoefficients"(m, n=None)" the last line of code
coefMat[m*j+k, k] = binom(m, j)*binom(n, k-j)/den,
I think it should be modified as
coefMat[n*j+k, k] = binom(m, j)*binom(n, k-j)/den ,
where the n is degree of second Bezier curve