A Java toolkit facilitating tasks connected with trajectory planning. Currently, most of the functionality is implemented for problems involving circular agents/vehicles/robots in 2-d Euclidean plane with both static and dynamic obstacles.
Selected functionality:
- A* planner on general JGraphT graphs
- Implementation of sampling-based trajectory planning algorithm RRT*
- Methods for discretizing continuous environments
- Line-polygon intersection detectors
- Numeric and analytic detector of minimal separation violation between two trajectories
- Visualization of trajectories and geometric shapes
- Live simulation of robots moving along given trajectory
- Dubins path generator
- etc.
For more detailed information, go to project wiki: https://github.com/mcapino/trajectorytools/wiki