A Java toolkit facilitating planning, visualization and manipulation of trajectories in 2-d polygonal environments.
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misc/eclipse Separation detector uses < insttead of <= Jan 9, 2014
.gitignore added Idea settings files to .gitignore Mar 23, 2016
.project cleaning Mar 28, 2013
LICENSE added README, LICENSE and .gitignore Aug 5, 2014
README.md fixed typo Feb 1, 2016
pom.xml implemented maneuver tree demo Mar 24, 2016


Alite Trajectory Tools

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