RobOptim Trajectory: trajectories, splines, and more.
C++ Gnuplot Python CMake
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This package is the Trajectory toolbox of the RobOptim framework. It contains parametric curve definitions, cost functions, constraints and tools to optimize trajectories. It is released under the LGPL-3 license.

Warning: this repository contains Git submodules. Please clone this repository using the git clone --recursive command. If you already have cloned the repository, you can run git submodule init && git submodule update to retrieve the submodules.

For general information about the project, please refer to its homepage:


To get started with this library, please read the online Doxygen documentation.

It can also be generated locally by running the make doc command. After the package is installed, the documentation will be located in the $prefix/share/doc/roboptim-trajectory directory where $prefix is your installation prefix (/usr/local by default).

Getting Help

Support is provided through:

How can I install roboptim-trajectory?


First question: do you need to compile this package from source manually?

The answer is yes if:

  1. There is no native package available for your system and you do not want to use an external system such as RobotPkg to handle your dependencies.
  2. You want to develop new features for this package and you do not want to use RobotPkg on top of your system to handle this.

If the answer is yes, then please proceed. Otherwise, please checkout the "Available Package" section at the end of this page.

Installing dependencies

RobOptim uses the following tools:

  • RobOptim Core dependencies:
  • Git a source content management system
  • CMake (>= 2.8) a build system
  • pkg-config dependency tracking tool
  • Doxygen a documentation generation tool
  • Boost C++ library
  • Eigen C++ template library for linear algebra
  • log4cxx logging framework
  • Libtool and its ltdl library for portable plug-in management
  • a C++03 compliant modern C++ compiler such as GCC or clang
  • roboptim-core (the package itself)
  • to run the tests, a plug-in for a non-linear solver is also needed

Compiling and installing the package

The manual compilation requires two steps:

  1. configuration of the build and generation of the build files
  2. compilation of the sources and installation of the package

roboptim-trajectory uses CMake to generate build files. It is recommended to create a separate build directory:

mkdir _build         # (1) Create a build directory
cd _build            # (2) Go to the newly created build directory
cmake [options] ..   # (3) Generate the build files

Options which can be passed to CMake are detailed in the next section.

make                 # (4) Compile the package
make test            # (5) Execute the package tests
make install         # (6) Install the package into the prefix (see step 3)


Additional options can be set on the command line through the following command: -D<option>=<value>.

For instance: cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo .. will set the CMAKE_BUILD_TYPE option to the value RelWithDebInfo.

Available options are:

  • CMAKE_BUILD_TYPE set the build profile that should be used (debug, release, etc.). We recommend RelWithDebInfo as it will provide performances while keeping debugging symbols enabled.
  • CMAKE_INSTALL_PREFIX set the installation prefix (the directory where the software will be copied to after it has been compiled).
  • TESTSUITE_SOLVER set which solver will be used to run the tests. ipopt is recommended as we regularly check with this plug-in. Using other solvers (cfsqp, nag-nlp, etc.), some tests may fail.

Tips and Tricks

How to use Valgrind with the test suite?

All the tests launched by the test suite can be prefixed with the environment variable CHECK_PREFIX.

cmake -DCHECK_PREFIX='valgrind --log-file=valgrind.log' ..
make && make test


If you want to contribute, please refer to the file.


This package authors are credited in the AUTHORS file.

Available Packages