Example with Path Planners

You can find various path planners under Available Blocks. In the EEROS library you will find a directory with examples.

For the first example using a Path Planner Constant Acceleration see PathPlannerTest1.cpp.

Open a shell in the build directory of your EEROS library and run

$ ./examples/block/pathPlannerTest1

The example shows the output of the path planner in the log, with the actual acceleration, velocity and position. After 0.3s the path starts from position (0/0) and later reaches its endpoint at (-5/10). After 20s it starts from (15/-30) and goes to (5/20).

The second example uses a Path Planner Constant Jerk see PathPlannerTest2.cpp.

Open a shell in the build directory of your EEROS library and run

$ ./examples/block/pathPlannerTest2

The example shows the output of the path planner in the log, with the actual jerk, acceleration, velocity and position. The path starts from position (0/0) and later reaches its endpoint at (10/20). After 15s it starts from (15/30) and goes to (-5/20).

The third example uses a Path Planner Cubic see PathPlannerTest3.cpp.

Open a shell in the build directory of your EEROS library and run

$ ./examples/block/pathPlannerTest3

The example shows the output of the path planner in the log, with the actual timestamp, jerk, acceleration, velocity and position. The path is given by path.txt.

The last example shows the use of a simple Rate Limiter to generate a rising or falling slope from a step. This can be used as a simple method for path planning, see RateLimiterTest.cpp.

Open a shell in the build directory of your EEROS library and run

$ ./examples/block/rateLimiterTest1

The example shows the output of the path planner in the log, with the actual position of the step together with the output of the rate limiter. After 1s the path starts from position (0/0) and later reaches its endpoint at (2/3). After 8s it ramps down to (-1/-2).