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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
635 stars 155 forks source link

Overshoot mitigation #154

Open AndyZe opened 1 year ago

AndyZe commented 1 year ago

Here's a cool feature I added for MoveIt. Basically it iterates to mitigate overshoot. It would be cool to get this merged upstream.

https://github.com/ros-planning/moveit/pull/3376