Trajectory Planner macOS

trajectory_planner is an optional add-on for Generalized_ADCS. The module is a C++ project built with pybind11 and imported into the Python codebase.

Canonical instructions (including Windows and Linux) are maintained in:

• docs/Install_Trajectory_Planner.md

For algorithm background see:

• SALTRO documentation website

Prerequisites

• Homebrew

• Python virtual environment activated

Install system dependencies:

brew install armadillo boost

Note: on Intel Macs replace /opt/homebrew with /usr/local below.

Build trajectory_planner

The trajectory_planner C++ source lives in the OldPlanner submodule. Initialise it first if needed:

git submodule update --init --recursive OldPlanner

Then with the virtual environment active (so $VIRTUAL_ENV is set):

cd OldPlanner
mkdir -p build && cd build

cmake .. \
  -DCMAKE_BUILD_TYPE=Release \
  -DPython3_EXECUTABLE="$VIRTUAL_ENV/bin/python" \
  -DCMAKE_PREFIX_PATH="/opt/homebrew/opt/armadillo;/opt/homebrew/opt/boost;/opt/homebrew" \
  -DCMAKE_CXX_FLAGS="-I/opt/homebrew/include"

cmake --build . -j$(sysctl -n hw.logicalcpu)

The -DCMAKE_CXX_FLAGS=-I/opt/homebrew/include flag is required so the tp_test target can find Boost’s boost/math headers; the CMake project does not add a Boost include path itself.