Usecase discussion

[Shantnu12345]

Hi,

Thank you for sharing this. I am wondering if can this library be used for the following usecase and how to use it for the following usecase:

Given a sequence of points, generate a path that satisfy the vehicle constaints (like max steering angle, max rate of change of steering angle, etc, which are there in the AGV vehicle) and passes through all the points (like cubic spline interpolation). If going through all the points is not feasible then it tries to go as close as possible through the points (like bspline). This path needs to be generated just once in the beginning and then vehicle will just follow this generated path. Please note that there might be static obstacles in the scene but no dynamic/moving obstacles.

To me, this scenario seems similar to the GCode_examples in the library. However, I want to use an AGV instead of a Tool. Also, I want to incorporate static obstacle constraints. Is there a way how to do that already in the library? If not, could you please guide me how to do that? Any other suggestions would be very helpful.

Best,
Shantnu