Script question

[Iko-Git]

Hello! Kindly, I want to as if I can, with your software (Python or Matlab version), impose inequality constraints on the first and second derivatives of the piecewise polynomial trajectory. What I am aiming to do is to generate a minimum snap piecewise polynomial trajectory (based on a number of 3D waypoints), in which the zeroth (the minimum snap piecewise polynomial), the first (speed), and the second (acceleration) derivatives won't exceed a certain value. Any example/guidance would be highly appreciated.

[tomcattiger1230]

@Iko-Git
Hello, I think in my example (the Python implemented) you will see the example you want.