Supplemental Material for Visualization of Nonlinear Programming for Robot Motion Planning

It comprises a video and source code of a visual analytics system for analyzing constrained optimization runs. The video showcases the interactive features of the system by demonstrating two analysis scenarios.

The source code includes the robot motion planning framework together with some exemplary planning problems (written in C++), and the visual analytics system that interoperates with the motion planner (written in Java). The visual analytics system provides a graphical user interface for analyzing constraint optimization runs of robot motion planning problems, which facilitates trouble shooting and fosters deeper understanding of solver behavior and respective nonlinear programs.