Is it correct result?

[MinchangSung0223]

Thanks for the good paper.

I think

input parameter is

  input.current_position = {0};
  input.current_velocity = {20};
  input.current_acceleration = {150};

  input.target_position = {1};
  input.target_velocity = {10};
  input.target_acceleration = {207.154987413215};

  input.max_velocity = {70};
  input.min_velocity = {-70};
  input.max_acceleration = {500};
  input.min_acceleration = {7900};
  input.max_jerk = {2458000};

but the result is a6 = -7893.536510410606 max(v) = 35.341000017262 Substituting into the above formula, the RHS is 62,307,918.64118525, the LHS is 62,309,634.636835076

The left and right sides are different.

Is it correct trajectory?

[pantor]

Hi @tjdalsckd! The trajectory seems to be correct and time-optimal to me. Or why do you think otherwise?

Where does the equation come from? If t6 is referring to the 6th step in the profile, then t6 != 0 in this case. In particular, the equation depends on the maximum acceleration in your example.

[MinchangSung0223]

Hi @pantor! I used the following formula

https://github.com/pantor/ruckig/blob/612eb3cb6bc8699c48cf49170d136dfedb469ab2/src/ruckig/position-step1.cpp#L31

amin = 7900 vf = 10 af = 207.154987413215 j = 2458000

but real vmax is 35.341000017262.

[pantor]

Your calculated trajectory has following times:

t1 = 0.000142392
t2= 0.0304877
t3 = 0.00341483
t4 = 0
t5 = 0
t6 = 0
t7 = 0.00329569

In particular, the minimum acceleration of the profile is a6=-7893.63 and does not reach the acceleration constraint. Therefore, t6 is zero. Furthermore, the equation doesn't correspond to your profile, and that's why you have the discrepancy between the two v_max.