FBGA
FBGA - Forward Backward Generic Acceleration constraints is a library specifically developed to solve optimal velocity profile given a complex g-g-v constraint envelope the described implementation is under review in the Robotics and Automation Letters (RAL) journal. This library will later evolve into a generic tool including multiple dimensions constraints and a more general approach to the problem. The library is able to compute the maximum performance longitudinal maneuver given a generic g-g-v envelope and a curvature profile (i.e., the trajectory path).
The fbga3d module ports the 3D forward-backward solver originally developed in FBGA_3D into this repository (generic over the vehicle's GG-diagram model via Fbga3dSolver<GggvModel>, with GggvIndy/GggvMoto as the two instantiations); it's opt-in via -DFBGA_BUILD_3D=ON -- see below.
For usage details, please refer to the FBGA Usage Guide.
Cite 2D FBGA in your publications as follows:
@article{piazza2025real,
title={Real-Time Velocity Profile Optimization for Time-Optimal Maneuvering With Generic Acceleration Constraints},
author={Piazza, Mattia and Piccinini, Mattia and Taddei, Sebastiano and Biral, Francesco and Bertolazzi, Enrico},
journal={IEEE Robotics and Automation Letters},
volume={11},
number={2},
pages={1674--1681},
year={2025},
publisher={IEEE}
}
Cite 3D FBGA in your publications as follows:
@article{piazza2026beyond,
title={Beyond the Apex: Online Minimum-Time Velocity Planning on Three-Dimensional Paths With Variable Friction},
author={Piazza, Mattia and Langmann, Alexander and Biral, Francesco and Betz, Johannes and Piccinini, Mattia},
journal={IEEE Robotics and Automation Letters},
volume={11},
number={8},
pages={10034-10041},
year={2026},
publisher={IEEE}
}
Requirements
General
- git
- cmake
- make
Third party libraries
Third party libraries (Catch2, cxxopts, rapidcsv, and -- when -DFBGA_BUILD_3D=ON -- libnpy) are fetched automatically by CMake via FetchContent during configuration, pinned to fixed release tags in Dependencies.cmake. You need an internet connection the first time you configure the project; nothing needs to be installed manually.
Building
cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build -j
For a debug build, pass -DCMAKE_BUILD_TYPE=Debug instead. Useful options (see ProjectOptions.cmake):
-DFBGA_BUILD_TESTS=OFFto skip the Catch2 unit tests (test/).-DFBGA_BUILD_EXAMPLES=OFFto skip the usage examples (examples/).-DFBGA_BUILD_3D=ONto also build thefbga3dmodule (src/fbga3d/,test/fbga3d/,examples/fbga3d/) -- off by default.-DFBGA_WARNINGS_AS_ERRORS=ONto treat compiler warnings as errors.
Running the tests
ctest --test-dir build --output-on-failure
Running the examples
Examples must be run from the repository root, since they read data files with paths relative to it (e.g. data/paper/..., or data/INDY/*.npy for fbga3d's GggvIndy):
./build/examples/fbga/fbga_example_basic
./build/examples/fbga/fbga_example_moto
./build/examples/fbga3d/fbga3d_example_gggv_demo # -DFBGA_BUILD_3D=ON only
./build/examples/fbga3d/fbga3d_example_yas_marina_indy # -DFBGA_BUILD_3D=ON only
Python bindings
Python bindings (fbga_py, covering both Fb2d and fbga3d's FbgaIndy/FbgaMoto) are built independently of the CMake build above, via setuptools/pybind11 -- see python_bindings/README.md.
1 maintainer
Metadata
1 maintainer
Release files for fbga-py 0.1.1
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