Mark W. Mueller ([email protected])
This contains source code implementing a method for rapidly generating trajectories for quadrocopters. The two folders give implementations for both C++ code, and Python. These are equivalent, but independent of one another.
The Python code allows to quickly plot some trajectories too.
The C++ code has comments which can be compiled with Doxygen.
The algorithm is described in the following paper: M.W. Mueller, M. Hehn, and R. D'Andrea, "A computationally efficient motion primitive for quadrocopter trajectory generation," IEEE Transactions on Robotics (to appear), 2015.
The paper may be downloaded here.
If you'd just quickly like to see something running, run the file
Python/demo.py
This will make a plot, visualising a trajectory. You can then change the
trajectory parameters, and see how this affects things.
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.