package

Planning

Path and trajectory planning algorithms

Geometric path planning, polynomial smoothing, and time-parameterized trajectory construction. Packages expose explicit conventions and keep vehicle dynamics outside the planning layer.

Choose a planning layer

Dubins constructs planar, forward-only paths with a minimum turn radius.
DubinsPolynomial smooths a Dubins reference using polynomial offsets.
Bezier supplies waypoint and polynomial trajectory tools.
Interfaces holds the shared trajectory boundary.

Geometric path distance and elapsed trajectory time are distinct variables. A path's curvature bound does not itself impose speed, acceleration, thrust or actuator limits. Check those limits against the vehicle and controller.

Examples

Start with DubinsFamilyGallery for the path families and DubinsAircraftFlightPlan for a complete aircraft reference. Global waypoints are projected once through Geodesy about a fixed mission origin.

Members

Name	Kind	Description
Dubins	package	Forward-only planar paths with bounded curvature and constant turn radius
DubinsPolynomial	package	Smooth transverse-polynomial offsets from nominal Dubins paths
Interfaces	package	Typed boundaries for deployable planning components
Bezier	package	Bezier curves and differentially flat multirotor references
Examples	package	Executable Dubins and Dubins-polynomial trajectory galleries

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

package Planning "Path and trajectory planning algorithms"
  annotation(
    uses(Geodesy, LieGroups, LinearAlgebra, Polynomials),
    Documentation(info="<html>
    <p>Geometric path planning, polynomial smoothing, and time-parameterized
    trajectory construction. Packages expose explicit conventions and keep
    vehicle dynamics outside the planning layer.</p>
  <h4>Choose a planning layer</h4>
<ul>
<li><a href=\"modelica://Planning.Dubins\">Dubins</a> constructs planar,
forward-only paths with a minimum turn radius.</li>
<li><a href=\"modelica://Planning.DubinsPolynomial\">DubinsPolynomial</a>
smooths a Dubins reference using polynomial offsets.</li>
<li><a href=\"modelica://Planning.Bezier\">Bezier</a> supplies waypoint and
polynomial trajectory tools.</li>
<li><a href=\"modelica://Planning.Interfaces\">Interfaces</a> holds the shared
trajectory boundary.</li>
</ul>
<p>Geometric path distance and elapsed trajectory time are distinct variables.
A path's curvature bound does not itself impose speed, acceleration, thrust or
actuator limits. Check those limits against the vehicle and controller.</p>
<h4>Examples</h4>
<p>Start with <a href=\"modelica://Planning.Examples.DubinsFamilyGallery\">DubinsFamilyGallery</a>
for the path families and
<a href=\"modelica://Planning.Examples.DubinsAircraftFlightPlan\">DubinsAircraftFlightPlan</a>
for a complete aircraft reference. Global waypoints are projected once through
<a href=\"modelica://Geodesy\">Geodesy</a> about a fixed mission origin.</p>
    </html>"));
end Planning;