B-Spline Trajectory Generation

1. Introduction

B-Spline trajectory generation and optimization for autonomous navigation for drones.

2. Pre-requisites

Eigen, C++11

3. Running the code

bspline.h contains the implementation of cox-deBoor recursive formula for calculation of splines.

git clone https://github.com/deepak-1530/BSplines.git

mkdir build

cd build

cmake .. && make

./main

Plotting the results

Running the executable creates two files -> data.txt and dataControlPoints.txt

These are used in the python script (plotSpline.py)

python3 plotSpline.py

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