scurve trajectory planner

Hi Arciera,
I installed both off them in a hurry. I think this one :sudo apt-get install libdogleg2

apt-cache search libdogleg -> gives both :  libdogleg-dev  & libdogleg-dev

Ok,

I am a little further.
There is added a test : single_clothoid_fit();

This is a test, given a clothoid start point, end point.
It is a single clothoid, so no clothoid compound.

I have those installed but still complains about missing 'cholmod.h': 
 

strange thing is that I seem to able to build 'libdogleg' git repo you linked above which also includes 'chmod.h'. Had to install 'mrbuild' though.

 

Hi Arciera,

Mr build? Huh.  Wich dep is that?

I am able to let the single clothoid finish at target position ~ 50% off the cases.
using example : single_clothoid_fit();

Dogleg fails to find solution very often. Tarpos in the range x20 is ok. x200 is failing all the time.

The good news is, it works partially.
The bad new is, is fails a lot.

Here it does the job ok:



So now what to do?
Maybe try another library?

interpolation endpoint result : endpoint x: 11.000000 y: 5.000000 z: 2.000000

Hi,

I have tried another solver: "libgsl".     ( sudo apt-get install libgsl-dev )   Using the GPU. ..

This runs way better then libdogleg. Was a luckie shot.

In this solver bigger distances are ok.
Input :


interpolated endpoint result : x: 520.049999 y: 266.500001 z: 125.500000
Converged after 370 iterations wtf? 

Now i get more convinced finally.

Moved to another PC, installed 'libdogleg-dev' and I seem to get a little further but not much:

 

Anyway, I'm afraid there is not much I can think of to help as I'm really starting a zero with these dogleg solvers.