Small library for planning scurve velocity profiles. The crucial part of implementaion is based on "Trajectory Planning for Automatic Machines and Robots-Springer (2008)" by Luigi Biagiotti, Claudio Melchiorri.

Installation is pretty simple. Firstly clone repository:

git clone https://github.com/nameofuser1/py-scurve.git
cd py-scurve

and then run installation script:

python setup.py install

• Plan 1-DOF trajectory

from pyscurve import ScurvePlanner, plot_trajectory

if __name__ == "__main__":
    q0 = [-2.]
    q1 = [20.]
    v0 = [1.]
    v1 = [5.]
    v_max = 20.
    a_max = 15.
    j_max = 100.

    p = ScurvePlanner()
    tr = p.plan_trajectory(q0, q1, v0, v1, v_max, a_max, j_max)
    plot_trajectory(tr, 0.01)

• Trajectories for several DOFs are automatically synchronized. Assuming that constraints on jerk, acceleration and speed are the same for each DOF:

from pyscurve import ScurvePlanner
from pyscurve import plot_trajectory

if __name__ == "__main__":
    q0 = [-2., 0., 10.]
    q1 = [20., 15., -10.]
    v0 = [0., 5., 0.]
    v1 = [2, 4., 0.]
    v_max = 30.
    a_max = 30.
    j_max = 100.
    T = None

    p = ScurvePlanner()

    tr = p.plan_trajectory(q0, q1, v0, v1, v_max, a_max, j_max, t=T)
    plot_trajectory(tr, dt=0.01)

• Specify parameter T in order to fit all the trajectories in the same execution time:

from pyscurve import ScurvePlanner
from pyscurve import plot_trajectory

if __name__ == "__main__":
    q0 = [-2., 0., 10.]
    q1 = [20., 15., -10.]
    v0 = [0., 5., 0.]
    v1 = [2, 4., 0.]
    v_max = 30.
    a_max = 30.
    j_max = 100.
    T = 3.0

    p = ScurvePlanner()

    tr = p.plan_trajectory(q0, q1, v0, v1, v_max, a_max, j_max, t=T)
    plot_trajectory(tr, dt=0.01)

Just to make it clear. If trajectory final speed is 0 then it is NOT synchronized in time with others and minimum time trajectory is computed. all trajectories with non-zero final velocities are fitted in the same time because non-zero final speed will introduce unwanted displacement if trajectories are not synchronized. Same is true for constant time trajectories(possibly not a good approach for constant time trajectory, will fix it in future builds).

Copyright (c) 2017 Kamnev Iurii

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

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