Path generator for robotics applications.

Not required! Just download the latest release if you want to use it locally.

To contribute, please fork the repository and submit a pull request. If you have any questions, found a bug, or want to request a feature, please open an issue.

This project is licensed under the GPLv3 license. See the LICENSE file for more details.

This is the format that the robot will use to interpret the path.

lookahead
trackWidth
deactivateDist
lF
lA
lJ
lP
lI
lD
lB
lG
rF
rA
rJ
rP
rI
rD
rB
rG
x0, y0, vel0
x1, y1, vel1
x2, y2, vel2
...

This is the format that Path-Gen will use to visualize the debug data.

x0, y0, vel0
x1, y1, vel1
x2, y2, vel2
...
debug
timestamp0, rbtX0, rbtY0, rbtH0, closestX0, closestY0, lookaheadX0, lookaheadY0, curvature0, targetVel0, leftTargetVel0, rightTargetVel0, leftVel0, rightVel0
timestamp1, rbtX1, rbtY1, rbtH1, closestX1, closestY1, lookaheadX1, lookaheadY1, curvature1, targetVel1, leftTargetVel1, rightTargetVel1, leftVel1, rightVel1
timestamp2, rbtX2, rbtY2, rbtH2, closestX2, closestY2, lookaheadX2, lookaheadY2, curvature2, targetVel2, leftTargetVel2, rightTargetVel2, leftVel2, rightVel2
...