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 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 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).