PATH ADAPTOR

Path adaptor is a basic CHOMP implementation for differential drive mobile robots. It adapts an initial path to avoid obstacles. This implementation is based on source code from trychomp

Build and Run GUI:

You need CMake, Eigen v3, and GTK+ v2.

git clone https://github.com/rafaelvalencia/path-adaptor.git
mkdir path-adaptor/build
cd path-adaptor/build
cmake ..
make
./demoSE2

Basic Class Usage:

• Declare a CHOMP object (CHOMP_SE2 or CHOMP) with your selected parameters (passed as arguments in constructor).
• Initialize a path, a starting pose and an ending pose. E.g. use 'setPath' to set any given initial path (e.g. computed with a global path planner), 'initStraightLinePath' for a straight line or 'initStackedPath' for a path with all poses stacked at the initial pose.
• Set obstacles with 'setObstacles' (add more with 'addObstacle', obstacles are defined as circles).
• Run CHOMP with 'generatePath' or run a single iteration with 'chompIteration' (you need an initialized path for this step).

This is based on the Covariant Hamiltonian Optimization for Motion Planning CHOMP.