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Quikplan

quikplan

Quikstart

Requirements

Note: Quikplan has been tested with Python version 3.7 and 3.8. Older versions may work but Python 3.9 is not currently supported.

Installation

  • Clone the repository to your local machine with git clone https://github.com/frc604/quikplan-public.git
  • Navigate into the cloned repository with cd quikplan-public
  • Install the necessary libraries through pip by running pip3 install --upgrade -r requirements.txt in the root folder

Running

There are currently two available optimizers: slalom and barrel_racing. To run them just run their corresponding python file:

  • python quikplan.py --slalom
  • python quikplan.py --barrel_racing

Initialization

Quikplan also includes a simple GUI for creating initialization paths to be optimized. This can be launched by running:

  • python quikplan.py --init

Once the GUI has launched you can click on any of the preloaded setups in the obstacles list to load it onto the chart.

To add a waypoint just left click anywhere on the embedded chart and the line will expand to include the point you clicked.

Clicking and dragging lets you move a previously placed waypoint.

Right clicking on a previously placed waypoint deletes it from the path.

After creating an initialization path you can save it to a json file by clicking the Save to JSON button and entering the json name.

Visualization

Quikplan offers numerous options to visualize optimized paths. The two main methods for this are plot_traj and anim_traj in helpers.py.

plot_traj

plot_traj will plot the x, y, and theta poses in a trajectory using the provided robot geometry. It can also be used to plot obstacles. See quikplan_slalom.py for example use cases.

If the save_png param of plot_traj is set to True Quikplan will save the plot to a png file in the renders folder.

anim_traj

anim_traj will animate the robot moving through the poses in a trajectory using the provided robot geometry. It also has support for plotting obstacles. quikplan_slalom.py has an example use case.

Note: The timestep in anim_traj should be set to the dt between the trajectory states (in milliseconds) for the animation to run at the rate of the trajectory. interp_state_vector can be used to convert an optimized trajectory to a desired dt.

If the save_gif param of anim_traj is set to True Quikplan will save the animated trajectory as a gif file in the renders folder.