Quintic Path Planner

Quintic Path Planner For Wheeled robots

Installation

To use this Node, you must enable omni.isaac.wheeled_robots in the Extension Manager.

Inputs

Name	Type	Description	Default
execIn	execution	The input execution
currentPosition	vectord[3]	Current position of the robot (recommended to use Get Prim Local to World Transform node)
currentOrientation	quatd[4]	Current rotation of the robot as a quaternion (recommended to use Get Prim Local to World Transform node)
targetPrim	bundle	USD prim reference to the target position/orientation prim
targetPosition	vectord[3]	Target position (used if no targetPrim provided)
targetOrientation	quatd[4]	Target orientation (used if no targetPrim provided)
initialVelocity	double	Initial velocity	0.5
initialAccel	double	Initial acceleration	0.02
goalVelocity	double	Goal velocity	0.5
goalAccel	double	Goal acceleration	0.02
maxAccel	double	Max acceleration	1.5
maxJerk	double	Max jerk	0.3
step	double	Step	0.16666666667

Outputs

Name	Type	Description	Default
execOut	execution	The output execution
pathArrays	double[]	The path v, x, y, and yaw arrays
target	double[3]	Target position and orientation
targetChanged	bool	Target position/orientation has changed