Hung Pham (Phạm Tiến Hùng)

> I found a new paper that could be useful to extend TOPP-RA including jerk constraint along the path: > https://www.sciencedirect.com/science/article/abs/pii/S0921889021000294 > > What do you think about? Certainly non-linear...

Hi, in practice I think smoothing the acceleration profile should produce some reasonable results. It should perhaps be done in the space of the `sd(s)` function instead of the `sd^2(s)`...

Yeah actually that could work too. I remember trying that sometimes ago. However we would need to be careful regarding the sequence of velocities that the FIR filter is applied...

> Actually, one can apply the FIR to s−t curve directly, which is a direct output of TOPPRA. This little trick can readily obtain jerk-bounded trajectories (not respecting specific jerk...

Exactly the same experience that I had. Does anyone have any experience with a similar library called rugkig? Apparently they can do jerk limit motion.

Thanks. Look pretty intriguing. Does anyone have experience with this library and perharps has any familiarity with their technical approach?

Nice! Thanks for the reference @s-trinh Ruckig's velocity profiles look rather intriguing. I have not seen any path-constrained algorithms producing velocity/acceleration profiles looking that simple. Look like they modify the...

Thanks for reporting, we will look into this issue. Do you have happen to have any insights on what might happen?

I have not look into the details, but usually this happens when the path is not sufficiently smooth. Could you plot the path that you are trying to work on...

Yes the C++ API as of now only support polynomial path, but you can implement your own path types by inheriting from the abstract interface. > Is an analog for...