Mobility - Differential Drive Library

This repository contains a collection of classes and functions to manipulate curves and trajectories that are relevant for driving a simple differential drive robot using constant-velocity / curvature segments. Most practical functions in this library are fairly well tested in the real world. There is a great array of functions to convert between curves (cord-length parameterized) and trajectories (time parameterized), as well as slowing down, speeding up, enforcing constraints, truncating, stitching, etc., in summary, it provides a pretty complete toolbox for dealing with many practical realities of motion planning for robotics.