# path_smoothing

**Repository Path**: nothing_but_nothing/path_smoothing

## Basic Information

- **Project Name**: path_smoothing
- **Description**: 数值优化作业5 Task1
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 3
- **Forks**: 2
- **Created**: 2022-09-20
- **Last Updated**: 2025-04-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<!--
 * @Author: Liu Tianqing
 * @Date: 2022-09-20 14:46:31
 * @LastEditors: Liu Tianqing
 * @LastEditTime: 2022-09-20 14:56:37
 * @Description: file content
-->

# Task

《机器人中的数值优化》HW5 Task1
- 生成凸多边形障碍；
- 生成光滑曲线路径。

# How to run

```
catkin_make
source devel/setup.bashrc
roslaunch gcopter curve_gen.launch
```

# How to set obstacles

in corve_gen.yaml

```
PolysNum: 15  # Number of polygons
PolyPlaneNum: 50 # Number of planes of each polygon
PolyXYBound: 25  # bound of center of polygons
PolyUVBound: 5 # bound of scale of polygons
```

# Results

![](misc/case1.png)