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