cagik / path_Optimizer

path_Optimizer

this code is based on https://github.com/libai1943/CartesianPlanner

I changed some of the variable constraints and the objective function to optmize my trajectory

how to run

git clone https://github.com/cagik/path_Optimizer.git
cd path_Optimizer/bin
cmake ..
make
./cartesianPlanner_demo

visualization

python Scene.py