B-Spline Trajectory Generator

This README provides instructions on how to run the examples from scratch.

Linux Prerequisites

Ensure you have Python, pip, git, and cmake, Google Test, Eigen3, and tkinter is installed on your system. Then, install the required packages:

sudo apt install python3
sudo apt install python3-pip
sudo apt install git
sudo apt install libgtest-dev
sudo apt install libeigen3-dev
sudo apt install python3-tk

Linux Setup

Now install the python dependencies through pip

pip install numpy
pip install matplotlib
pip install scipy
pip install pyrsistent
pip install setuptools

Clone the following repository

git clone https://github.com/davidcGIThub/bspline_generator.git

Navigate to the working directory and install

cd bspline_generator
python3 setup.py sdist bdist_wheel
pip install .

Now clone this repository

git clone https://github.com/davidcGIThub/trajectory_generator.git

Build the c++ code. Navigate to

/trajectory_generator/trajectory_generation/constraint_functions/TrajectoryConstraintsCCode

and then run the following commands

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build .