g1fitting

Clothoid generation and sampling library, with Python wrapper

The library was originally written by the authors of the work published here. For questions regarding the underlying algorithm, contact Enrico Bertolazzi, Universita` degli Studi di Trento (Dipartimento di Ingegneria Industriale). Email: enrico.bertolazzi@unitn.it

An excellent MATLAB version of this, with many more features, exists on the MATLAB File Exchange here

I've ported his MATLAB sampling function back to C++ and added a Python 2.7 wrapper for Clothoid::buildClothoid and Clothoid::pointsOnClothoid. The MATLAB function G1spline, which computes a spline for N > 2 points, has not yet been ported.

Build/install

Installation is available via PyPI: pip install g1fitting

The pypi branch has all code related to that.

Source build

C++ library

typical CMake operation: mkdir build && cd build && cmake .. && make install && ./test

Python wrapper

Use the typical method: python setup.py install && python test.py. This does not require the C++ library to be built, and operates without the CMake build system.

Note that this has only been tested on Linux