Python and Matlab packages to support the use of invariant trajectory representations for trajectory analysis, recognition, generation, and prediction.
This software is offered with an MIT License.
Trajectory analysis
Analyze the geometry of trajectories.
Trajectory generation
Generate new trajectories in a shape-preserving way.
Trajectory prediction
Predict the remainder of a trajectory.
Python software
Python implementation of Trajectory Invariants.
Matlab software
Matlab implementation of Trajectory Invariants.
Vector trajectory invariants
Trajectory Invariants based on the Frenet-Serret formulas using curvature and torsion.
Screw trajectory invariants
Trajectory Invariants based on the Instantaneous Screw Axis in screw theory.
Motion and force trajectories
Support for motion trajectories (translation, rotation, pose, twist) and for force trajectories (force, moment, wrench).
Geometric optimal control
Trajectory estimation and generation problems are implemented using Geometric Optimal Control.