需要安装casadi,C++需要源码安装casadi,casadi要调用ipopt这个非线性求解器,所以安装casadi前需要安装ipopt,我也是参考别人博客安装的,这个需要费点时间。
直接把src放入一个工作空间,终端catkin_make编译,source之后输入
roslaunch map_gen costmap_optimal_control.launch
功能:
生成A*需要的地图,启动launch
功能:
A*搜索算法
功能:
用casadi构建的后端优化
This project forked from use-jx/astar_with_traj_opt
A星搜索出一条避障路径作为轨迹优化初始解的小demo
需要安装casadi,C++需要源码安装casadi,casadi要调用ipopt这个非线性求解器,所以安装casadi前需要安装ipopt,我也是参考别人博客安装的,这个需要费点时间。
直接把src放入一个工作空间,终端catkin_make编译,source之后输入
roslaunch map_gen costmap_optimal_control.launch
功能:
生成A*需要的地图,启动launch
功能:
A*搜索算法
功能:
用casadi构建的后端优化
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