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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
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Jerk estimation supported by AbstractGeometricPath #234

Open chibai opened 1 year ago

chibai commented 1 year ago

Is your feature request related to a problem? Please describe. I wish I can get the Jerk of the AbstractGeometricPath

Describe the solution you'd like

instance = algo.TOPPRA([pc_vel, pc_acc], path, parametrizer="ParametrizeConstAccel")
jnt_traj = instance.compute_trajectory()
position = jnt_traj(ts_sample)
velocity = jnt_traj(ts_sample, 1)
acceleration = jnt_traj(ts_sample, 2)
jerk = jnt_traj(ts_sample, 3)