TrajI

A C++/Python library designed for trajectory calculation in Cartesian / Frenet coordinate system

Basic Usage

This library include several basic concepts implemented as classes:

• traji.Point: A 2D point in Cartesian or Frenet coordinate
• traji.Path: A line string consists of a list of consecutive points.
• traji.Trajectory: A line string path with associated timestamps for each point.
• traji.HeteroPath: A path consists of heterogenerous segments, including line segments, arc segments and other curve types.
• traji.PathPosition: This class define a position along a path. It can be converted to a distance value or a timestamp.
• traji.QuinticPolyTrajectory: An optimal trajectory defined as a quintic polynomial with regard to time.
• traji.CTRATrajectory: A trajectory generated from constant turn-rate and acceleration movement.

The library contains the following functionalities for these concepts with efficient implementations:

• Transformation between the concepts (e.g. Path from/to HeteroPath, Path from/to Trajectory)
• Transformation between Cartesian coordinate and Frenet coordinate
• Indexing on the linear concepts (Point from/to PathPosition)
• Binary operations between the concepts (e.g. intersection, distance)

For C++ API, please refer to the single header file traji.hpp for the library.

For Python API, please refer to the type annotation file _bindings.pyi for an overview of the definitions.

Reference

• Frenet coordinates: https://github.com/fjp/frenet
• MATLAB traj library: https://www.mathworks.com/help/nav/ref/trajectoryoptimalfrenet.cart2frenet.html
• Bezier library: https://github.com/oysteinmyrmo/bezier