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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
625 stars 170 forks source link

Feature Request, per Way-Point Velocity Constraints #10

Closed EdsterG closed 6 years ago

EdsterG commented 6 years ago

Support for per way-point velocity constraints.

hungpham2511 commented 6 years ago

Is JointVelocityConstraint what you are looking for?

EdsterG commented 6 years ago

Can I have a different JointVelocityConstraint per way-point?

hungpham2511 commented 6 years ago

That should be possible!

hungpham2511 commented 6 years ago

I am happy to announce that path-varying joint velocity constraint is now supported. Please take a look at https://github.com/hungpham2511/toppra/blob/master/toppra/constraint/joint_velocity.py#L42 in the lastest commit on master.

EdsterG commented 6 years ago

Thank you!