Easy-2D-spline-maker-python

Easily design your own 2D spline with custom speed profile by just a few clicks! The number of via points are free.

Requirements

The tool requires following python packages:

• numpy
• scipy
• matplotlib
• PyYAML

Running examples

1. Fully click based

You can set the start_point_pos and final_point_pos points by clicks.

python run.py --config configs/click_based.yaml

2. Initial & final points specified

You may also prespecify start_point_pos and final_point_pos.

python run.py --config configs/init_fin_specified.yaml

3. Periodic trajectory

If you set start_point_pos and final_point_pos the same, the spline trajectory will be periodic. For periodic trajectory, speed_accel_parameter: 0, and speed_decay_parameter: 1 are highly recommended.

python run.py --config configs/periodic.yaml

4. Custom speed profile

python run.py --config configs/custom_speed.yaml

yaml explanation

• title: 'Spline_test' - The title of the run.
• save_path: './saved/' - The save path.
• xlim: [-1, 6] - xlim of figure.
• ylim: [-1, 6] - ylim of figure.
• start_point_pos: [0, 0] - The start point of the spline (optional).
• final_point_pos: [5, 0] - The final point of the spline (optional).
• via_speed: [1.0, 2.0, 3.0, 3.0, 3.0] - Via points of your custom speed profile (optional).
• speed_accel_parameter: 0.2 - The ratio of timesteps until which the trajectory accelerates to the speed from 0 to the initial speed of your speed profile. Set 0 if you don't want it.
• speed_decay_parameter: 0.8 - The ratio of timesteps from which the trajectory decelerates to the speed from the final speed of your speed profile to 0. Set 1 if you don't want it.
• total_time_length: 5 - Total time length of the trajectory. Speed profile is normalized to satisfy total_time_length.
• num_timesteps: 200 - The number of timesteps of your spline.
• num_delta_t: 200_000 - The number of timesteps for numerical integration & derivation.
• s: 0 - The smoothing factor for 'scipy.integrate'. if s is larger than 0, the spline will be smoother but might not go through the via points.