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Path to trajectory conversion #35

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@ncovic1 ncovic1 commented Sep 22, 2025

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Nermin Covic added 30 commits September 22, 2025 12:22
Added function to check if two vectors are linearly dependent
a66ac26
Minor fixes...
8ce32f9
Fixed a bug when more than two splines exist.
e8d75bd
Changed a way the path is preprocessed.
4501ed0
Added methods for converting a path to a corresponding trajectory.
3f0e747
Other corresponding changes...
e90e399
Created a file for testing 'path2traj' method.
de284c7
Renamed 'Splines' class to 'Trajectory' class
2509b63
Included 'ros_reflexxes' library within 'RPMPLv2'.
56c0245
Renaming 'splines' to 'traj'
edd1e33
"Splines.h" -> "Trajectory.h"
4e6d548
Optimizing 'computeRegular' function.
212af70
Rename 'SplineConfig' to 'TrajectoryConfig'
6545834
Minor updates...
695fff9
'MotionValidity' class updated.
9e44b18
Therefore, 'UpdatingState' class is also modified.
317612a
Default values reverted.
e46425e
New dynamic planner is created: Real-time RGBT alongside all correspo…
e627416 
…nding files.
Corresponding changes...
f7025e1
Successfully included 'ruckig' library.
dc16ab4
'TrajectoryRuckig' class is made as a bridge between Ruckig and DRGBT.
5964203
Corresponding addings due to Ruckig.
a6330d5
Minor changes in 'Trajectory' class.
7ab434b
'update_v3' function introduced to update current state when Rucking …
31822f1 
…is used.
Finally, Ruckig is included from external folder.
f25dc9a
Some lines are commented out.
3b26088
Multiple fixes in 'TrajectoryRuckig', so it now finally works with ar…
3bfad6f 
…bitrarly number of DoFs.
-Werror is disabled since Ruckig cannot be built then.
0b1827d
Minor changes...
d77507e
RT-RGBT adapted to operate with Ruckig.
764f25c
@ncovic1 ncovic1 marked this pull request as ready for review October 6, 2025 15:16
@ncovic1 ncovic1 requested a review from roboticsETF October 6, 2025 15:16
@ncovic1 ncovic1 self-assigned this Oct 6, 2025
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