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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
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The optimized path is not optimal #30

Closed tjh49 closed 5 years ago

tjh49 commented 5 years ago

I optimized my path with the velocity and acceleration limits set as shown in the picture below. But I think the path is not optimal, since the max velocity and acceleration of optimized path are much lower than the limits. So, is it possible to further optimize the path, so that the max velocity is nearly the limits and the path motion time is least?

image

tjh49 commented 5 years ago

Well, my mistake, bugs in my code. Sorry

hungpham2511 commented 5 years ago

@tjh49 no worries. Please close the issue though.