search

hungpham2511 / toppra

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

Can I pass in non-zero starting and goal velocity for each DOF? #33

Closed shenlirobot closed 5 years ago

shenlirobot commented 5 years ago

I am wondering whether there is a way to specify the starting and goal positions and velocities for each DOF into functions such as compute_trajectory in scalar_example.py?

It seems that 0 is always passed in instance.compute_trajectory(0, 0). Is there a way to pass in a list of velocities of all the DOFs into compute_trajectory?

hungpham2511 commented 5 years ago

Hi @Shentheman, sorry for the delay. I must have missed the issue for some reason.

The answer is yes, but since you need to have a fixed geometric path, there is only 1 dof to control the start and end velocity.