Support getting to a via point in a specific time

rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

http://wiki.ros.org/teb_local_planner

BSD 3-Clause "New" or "Revised" License

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Support getting to a via point in a specific time #345

Open lidor51 opened 2 years ago

lidor51 commented 2 years ago

Hi, In my planning program, except for going through Via Points, I care also of getting to each of the Via Points and the Goal at specific time (as a soft constraint). Any suggestions on what/how in TEB should I modify to support it?