Global-Trajectory-Optimization:用于全局轨迹优化的通用标签校正方法的非常轻量级的c ++实现

通过广义标签校正方法进行全局轨迹优化 这是一个用于解决全局轨迹优化问题的库，给定特定于问题的派生类，用于： 1) A dynamical model for the system (i.e. x'(t)=f(x(t),u(t)$) 2) A cost function of a trajectory $x(t)$ and input signal u(t) to be minimized ( i.e. C(x,u)= Integral g(x(t),u(t)) ) 3) A collision detector. That is, if some subset of the state space must be avoided, then function must be provided to determine if a trajectory interse