Trajectory Planner Windows¶

trajectory_planner is an optional add-on for Generalized_ADCS.

The module is a C++ project built with Pybind and imported into the Python codebase. On Windows, it must be compiled using Windows CMake and vcpkg.

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

docs/Install_Trajectory_Planner.md

For algorithm background, see:

SALTRO documentation website

Prerequisites¶

Visual Studio (C++ workload)
Python virtual environment activated
Windows CMake (not MSYS)

Ensure Correct CMake¶

Verify which CMake executable is being used:

Get-Command cmake | Select-Object Source

If the output points to MSYS (e.g. C:\msys64\mingw64\bin\cmake.exe), install Windows CMake:

winget install Kitware.CMake

The Windows CMake executable is typically installed at:

C:\Program Files\CMake\bin\cmake.exe

Install vcpkg¶

If vcpkg is not installed:

cd $env:USERPROFILE
git clone https://github.com/microsoft/vcpkg
cd vcpkg
.\bootstrap-vcpkg.bat

Install Dependencies¶

Install required C++ libraries:

vcpkg install armadillo
vcpkg install boost-math:x64-windows

Note that this step may take up to 15 minutes.

Build Instructions¶

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

git submodule update --init --recursive OldPlanner

Then from the OldPlanner build directory:

cd OldPlanner
mkdir build
cd build

$CMAKE_EXE = "C:\Program Files\CMake\bin\cmake.exe"
$VCPKG_ROOT = "$env:USERPROFILE\vcpkg"
$PYTHON_VENV = "..\..\venv\Scripts\python.exe"

Configure the build:

& $CMAKE_EXE .. `
  -A x64 `
  -DCMAKE_TOOLCHAIN_FILE="$VCPKG_ROOT\scripts\buildsystems\vcpkg.cmake" `
  -DVCPKG_TARGET_TRIPLET=x64-windows `
  -DPython3_EXECUTABLE="$PYTHON_VENV"

Build the project:

& $CMAKE_EXE --build . --config Release