Trajectory Planner using Ruckig Lib

I can take the c++23 stuff out of scurvy now. I should probably also add some notes to the readme on how to use it. Also I'm not sure if you noticed or not, but currently it only solves one s-curve given the constraints, it doesn't try to do more. I figured the task of joining multiple segments together with matching end and beginning velocities should be handled one level of abstraction higher.

For the clothoid stuff I need to look into the part where the maximum deviation from the path is calculated.

Hi Andrew,

The scurvy lib compiles now. It's a little strange, it won't compile to executable, but will compile to shared lib.
I only commented out the println's. Will finish it later on this day.

Also I'm not sure if you noticed or not, but currently it only solves one s-curve given the constraints,
No, not noticed. Have to run the example later on this day. I am curious fur sure !.

For the clothoid stuff I need to look into the part where the maximum deviation from the path is calculated.
Ok. This is the intersection point of the 2 segments to the closest clothoid fillet point i guess?
Take your time. I will have work to do, to get the clothoid interface fertig.

Thanks so far.

I just removed everything over c++17 so hopefully you're able to compile it without any problems now. I also added a comment to stress_test.cpp that explains how to actually use the solution that is generated. It's updated on github.

I also just changed the clothoid project to c++17 and added a type biclothoid_t to make things simpler.

@Hi Andrew,
Thanks for your efforts so far.

The stress test runs ok.

Now i would like to print the current velocity over the total periods.
I am able to get the periods from the *sol.
Can you tell me how to get curvel given a time 0 < ttot ?

I hadn't had a need for that yet. I just added it, but I haven't had a chance to test it.

github.com/a-downing/scurvy/commit/938b7...a75392ee1d14c722bf5f

Edit: Oops it's definitely wrong, let me fix it quick.

Edit: Should be good now:  github.com/a-downing/scurvy/commit/f271a...40af0f51734534134e3f