Closed MidgleyM closed 3 weeks ago
A better way to solve this is a maximum force cone in the optimization problem formulation, since it's a friction constraint.
TrajoptLib's Rust API has wpt_linear_acceleration_max_magnitude
and sgmt_linear_acceleration_max_magnitude
now, so we just need to plumb it into Choreo.
Having a constraint for the maximum acceleration and deceleration of your robot could help make sure that robots can follow the path better, as robots can sometimes skid if they try to decelerate or accelerate too quickly, and currently there's no real way to configure this other than having a ton of max velocity waypoints and calling it good.