General Splines Library in ROS

Implementation of the gsplines library in ROS

• Piecewise polynomial curves representation
• Automatic exact (and fast) differentiation of generalized splines
• Algebraic operations: inner product, norms, addition, multiplication, composition and concatenation of curves (allows only when it has mathematical sense).
• Optimization with waypoint (via-point) constraints: minimum jerk, snap, crank, etc.
• Implements piece-wise Lagrange polynomials at Gauss-Lobatto points.
• MoveIt implementation here

Installation

In ubuntu with ROS

1. Install dependencies

apt-get update
apt-get install ros-${ROS_DISTRO}-ifopt python3-matplotlib libgtest-dev cmake libeigen3-dev coinor-libipopt-dev

2. Install the GSplines

source /opt/ros/${ROS_DISTRO}/setup.bash && git clone --recursive https://github.com/rafaelrojasmiliani/gsplines_cpp.git ~/gsplines && cd ~/gsplines && mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=/usr && make && make install \
   && rm -rf ~/gsplines

3. Download this repo to your workspace and catkin build, or install