This repository contains code for generating a motion primitive set based on a set of user-defined maneuvers. It is implelemented in MATLAB using casADi together with IPOPT. https://github.com/casadi/casadi/wiki/InstallationInstructions contains information on how to install casADi for MATLAB.
To generate the motion primitives, the file main.m
can be used. There, it is possible to change which parameters that should be used and what maneuvers to generate.