search

sikang / mpl_ros

A ROS wrapper for trajectory planning based on motion primitives
Apache License 2.0
558 stars 148 forks source link

Change control input when planning? #4

Open grupot3 opened 6 years ago

grupot3 commented 6 years ago

Is it possible to plan a trajectory between two points, but half of the trajectory with input=jerk and the other half with input=velocity? If so, how could it be achieved?

Thanks!!

sikang commented 6 years ago

Hmmm, under current framework it is not possible, you need to modify the code: for example, one way is to hack env_map -- in the function get_succ, you can set a limitation for time/distance such that after the certain threshold, the action u is in jerk/vel space. But special attention needs to be paid at the cost and recoverTraj.