Quintic Path Planner#

Quintic Path Planner For Wheeled robots

Installation#

To use this node enable isaacsim.robot.wheeled_robots in the Extension Manager.

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

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

Name	Value
Unique ID	isaacsim.robot.wheeled_robots.QuinticPathPlanner
Version	1
Extension	isaacsim.robot.wheeled_robots
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Quintic Path Planner
Categories	isaacWheeledRobots
__categoryDescriptions	isaacWheeledRobots,robot path planning inside Isaac Sim
Generated Class Name	OgnQuinticPathPlannerDatabase
Python Module	isaacsim.robot.wheeled_robots