Reference Trajectories

The reference module is implemented in agilib/src/references/. It implements different ways of generating reference trajectories:

  • polynomial_trajectories: Using the eigen library, it implements a way of generating polynomials of arbitrary high order of magnitude that can be constrained in its different derivatives. A cost function can be minimized when solving for the polynomials, allowing for generation of minimum snap, minimum jerk, or other types of polynomials.

  • sampled_trajectories: Gets a sequence of previously sampled waypoints and converts it into a trajectory.