trajopt: Trajectory Optimization for Motion PlanningΒΆ

trajopt is a software framework for generating robot trajectories by local optimization.

The following core capabilities are included:

  • a solver for non-convex optimization problems, using sequential convex optimization.
  • cost and constraint functions for kinematics and collision avoidance
  • constructing problems from JSON-based specification format

The core libraries are implemented in C++ (API docs), and python bindings are generated using boost python.

The theory and technical details of this software are described in a paper.

Source code is available on github.


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