Quintic Path Planner

Quintic Path Planner For Wheeled robots

Installation

To use this node enable omni.isaac.wheeled_robots in the Extension Manager.

Inputs

Name

Type

Descripton

Default

Current Orientation (inputs:currentOrientation)

quatd[4]

Current rotation of the robot as a quaternion (recommended to use Get Prim Local to World Transform node)

[0.0, 0.0, 0.0, 0.0]

Current Position (inputs:currentPosition)

vectord[3]

Current position of the robot (recommended to use Get Prim Local to World Transform node)

[0.0, 0.0, 0.0]

Exec In (inputs:execIn)

execution

The input execution

None

Goal Accel (inputs:goalAccel)

double

Goal acceleration

0.02

Goal Velocity (inputs:goalVelocity)

double

Goal velocity

0.5

Initial Accel (inputs:initialAccel)

double

Initial acceleration

0.02

Initial Velocity (inputs:initialVelocity)

double

Initial velocity

0.5

Max Accel (inputs:maxAccel)

double

Max acceleration

1.5

Max Jerk (inputs:maxJerk)

double

Max jerk

0.3

Step (inputs:step)

double

Step

0.16666666667

Target Orientation (inputs:targetOrientation)

quatd[4]

Target orientation (used if no targetPrim provided)

[0.0, 0.0, 0.0, 0.0]

Target Position (inputs:targetPosition)

vectord[3]

Target position (used if no targetPrim provided)

[0.0, 0.0, 0.0]

Target Prim (inputs:targetPrim)

target

USD prim reference to the goal position/orientation prim

None

Outputs

Name

Type

Descripton

Default

Exec Out (outputs:execOut)

execution

The output execution

None

Path Arrays (outputs:pathArrays)

double[]

The path v, x, y, and yaw arrays

None

Target (outputs:target)

double[3]

Target position and orientation

None

Target Changed (outputs:targetChanged)

bool

Target position/orientation has changed

None

Metadata

Name

Value

Unique ID

omni.isaac.wheeled_robots.QuinticPathPlanner

Version

1

Extension

omni.isaac.wheeled_robots

Has State?

False

Implementation Language

Python

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Quintic Path Planner

Categories

isaacSim

__categoryDescriptions

isaacSim,robot path planning inside Isaac Sim

Generated Class Name

OgnQuinticPathPlannerDatabase

Python Module

omni.isaac.wheeled_robots