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mit-acl / mader

Trajectory Planner in Multi-Agent and Dynamic Environments
BSD 3-Clause "New" or "Revised" License
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Jerk bounds #2

Closed ctoumieh closed 3 years ago

ctoumieh commented 3 years ago

Hi,

I was curious as to why you didn't add jerk bounds in the optimization formulation to further guarantee feasability. Is it possible with the current formulation? Am I missing something? Is the cost function minimizing the jerk sufficient?

Cheers, CT

magicbycalvin commented 3 years ago

The order of the polynomials being used is 3, therefore the jerk is a constant value.