feat: frenet_optimal_trajectory update doc

AtsushiSakai · Jan 20, 2025 · f496cc0 · f496cc0
1 parent 5e9e03d
commit f496cc0
Show file tree

Hide file tree

Showing 5 changed files with 28 additions and 2 deletions.
diff --git a/docs/modules/path_planning/frenet_frame_path/frenet_frame_path_main.rst b/docs/modules/path_planning/frenet_frame_path/frenet_frame_path_main.rst
@@ -1,14 +1,40 @@
 Optimal Trajectory in a Frenet Frame
 ------------------------------------
 
-.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/FrenetOptimalTrajectory/animation.gif
-
 This is optimal trajectory generation in a Frenet Frame.
 
 The cyan line is the target course and black crosses are obstacles.
 
 The red line is predicted path.
 
+High Speed and Velocity Keeping Scenario
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. image:: ./high_speed_and_velocity_keeping_frenet_path.gif
+
+This scenario shows how the trajectory is maintained at high speeds while keeping a consistent velocity.
+
+High Speed and Merging and Stopping Scenario
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. image:: ./high_speed_and_merging_and_stopping_frenet_path.gif
+
+This scenario demonstrates the trajectory planning at high speeds with merging and stopping behaviors.
+
+Low Speed and Velocity Keeping Scenario
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. image:: ./low_speed_and_velocity_keeping_frenet_path.gif
+
+This scenario demonstrates how the trajectory is managed at low speeds while maintaining a steady velocity.
+
+Low Speed and Merging and Stopping Scenario
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. image:: ./low_speed_and_merging_and_stopping_frenet_path.gif
+
+This scenario illustrates the trajectory planning at low speeds with merging and stopping behaviors.
+
 Ref:
 
 -  `Optimal Trajectory Generation for Dynamic Street Scenarios in a

diff --git a/..._planning/frenet_frame_path/high_speed_and_merging_and_stopping_frenet_path.gif b/..._planning/frenet_frame_path/high_speed_and_merging_and_stopping_frenet_path.gif
diff --git a/...path_planning/frenet_frame_path/high_speed_and_velocity_keeping_frenet_path.gif b/...path_planning/frenet_frame_path/high_speed_and_velocity_keeping_frenet_path.gif
diff --git a/...h_planning/frenet_frame_path/low_speed_and_merging_and_stopping_frenet_path.gif b/...h_planning/frenet_frame_path/low_speed_and_merging_and_stopping_frenet_path.gif
diff --git a/.../path_planning/frenet_frame_path/low_speed_and_velocity_keeping_frenet_path.gif b/.../path_planning/frenet_frame_path/low_speed_and_velocity_keeping_frenet_path.gif