Additional information about the generated trajectory

[mrunaljsarvaiya]

Is there a way to determine velocity, acceleration and time information for a specific input waypoint? For example, a evaluation function (similar to jnt_traj.eval()), that instead of taking as an input a time step, takes a waypoint ?

[hungpham2511]

Yes this information can be retrieved from the output of the algorithm. In fact the velocities at each waypoint are used to compute the final retimed trajectory.

[mrunaljsarvaiya]

Thanks!