Path to trajectory conversion#35

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ncovic1 wants to merge 60 commits intomainfrom

Commits on Sep 22, 2025

Added function to check if two vectors are linearly dependent
Nermin Covic
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Minor fixes...
Nermin Covic
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Fixed a bug when more than two splines exist.
Nermin Covic
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Changed a way the path is preprocessed.
Nermin Covic
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Added methods for converting a path to a corresponding trajectory.
Nermin Covic
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Other corresponding changes...
Nermin Covic
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Created a file for testing 'path2traj' method.
Nermin Covic
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Commits on Sep 23, 2025

Renamed 'Splines' class to 'Trajectory' class
Nermin Covic
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Included 'ros_reflexxes' library within 'RPMPLv2'.
Nermin Covic
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Renaming 'splines' to 'traj'
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Commits on Sep 24, 2025

"Splines.h" -> "Trajectory.h"
Nermin Covic
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Commits on Oct 2, 2025

Commits on Oct 3, 2025

Successfully included 'ruckig' library.
Nermin
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Commits on Oct 4, 2025

Commits on Oct 5, 2025

Finally, Ruckig is included from external folder.
Nermin
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Some lines are commented out.
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Multiple fixes in 'TrajectoryRuckig', so it now finally works with arbitrarly number of DoFs.
Nermin
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-Werror is disabled since Ruckig cannot be built then.
Nermin
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Minor changes...
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RT-RGBT adapted to operate with Ruckig.
Nermin
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Commits on Oct 6, 2025

Commits on Oct 16, 2025

ReadMe updated.
Nermin Covic
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Commits on Oct 18, 2025

'AbstractTrajectory' class is created.
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A lot of corresponding changes...
Nermin Covic
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A lot of variables and methods are deleted since they are moved to 'AbstractTrajectory' class.
Nermin Covic
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Other corresponding changes...
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Console outputs commented.
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Commits on Oct 23, 2025

Added 'convertPathToTraj' method for converting a path to a corresponding trajectory.
Nermin Covic
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Commits on Oct 31, 2025

Variable 'measure_time' from 'UpdatingState' class is not necessary, thus it is removed.
Nermin Covic
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'TrajectoryConfig::MAX_TIME_PUBLISH' is also removed.
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Minor changes. 'status' can be printed now.
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Commits on Nov 5, 2025

'recordTrajectory' function updated...
Nermin Covic
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Commits on Nov 10, 2025

'isSafe' and 'computeDistanceUnderestimation' are moved to 'AbstractTrajectory' class.
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'computeSafe' method is implemented within 'TrajectoryRuckig' class.
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Code refactoring...
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How to test trajectory generation is added to the readme file.
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Commits on Nov 16, 2025

Commits on Dec 17, 2025

Minor changes...
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Commits on Dec 23, 2025

'convertPathToTraj' function can receive 'is_safe' parameter.
Nermin Covic
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Jerk can also be monitored.
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Code refactoring...
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Commits on Dec 24, 2025

Readme updated...
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Commits on Dec 25, 2025