A small package to handle a splinified racetrack

You can install the environment by running:

pip install .

The most common way to use it is importing it

from splinify.splinify import SplineTrack

and then instantiating a track object

track = SplineTrack(\path\to\track\waypoints, \path\to\optimal\trajectory\waypoints, safety_margin)

Both the optimal trajectory and the safety margin are optional. Default valueas are the center line and 0 respectively.

NOTE: when the trajectory is given, a certain constant difference might be present with respect to the parameter of the track. I.e. track.trajectory.get_coordinate(theta_hat) IS NOT NECESSARILY the nearest point to track.get_coordinate(theta_hat). To remove the delta a quick (but imprecise) way is track.trajectory.get_coordinate(theta_hat+track.delta_traj). This point will still be quite imprecise as the track advances with a different pace of the trajectory (one metre on the track can be not aligned with one metre on the trajectory). The suggested usage, for having a better point is then:

point_on_track = track.get_coordinate(theta_hat)
theta_trajectory = track.trajectory.find_theta(point_on_track, theta_hat+track.delta_traj)
point_on_trajectory = track.trajectory.get_coordinate(theta_trajectory)

This however comes with an additional computational burden. (On my machine, with an i5-6200U, circa 9 additional ms)