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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

How are derivatives calculated? #155

Closed AndyZe closed 1 year ago

AndyZe commented 1 year ago

I'm mostly just curious how derivatives are calculated. Is it backward finite difference, central finite difference, or something else?

pantor commented 1 year ago

Which derivatives are you referring to?

AndyZe commented 1 year ago

I'm not sure, I just assumed you were calculating vel/accel/jerk from position, somewhere

pantor commented 1 year ago

We don't calculate derivatives explicitly during run-time (in the Community version). In general, all equations are calculated analytically beforehand.