trajectories issues

Constant Time Parameterization

Hello, If a trajectory with a certain duration is desired, can this algorithm be modified to parameterize the trajectory to take a certain duration, while remaining under the acceleration and...

Jad-Tawil

Trajectory Optimization crashes for simple trajectory

1

Hi, when testing some simple trajectory, the algorithm causes an abort in Eigen. The trajectory is 1d: 0, 1, 0.7, 1.6, 0 It fails with: > TimeOptimalTrajectoryTest: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:378: Eigen::DenseCoeffsBase::Scalar& Eigen::DenseCoeffsBase::operator[](Eigen::DenseCoeffsBase::Index)...

mirkow

Trapezoidal cartesian velocity profile with trajectory

8

Can I get trajectory with trapezoidal Cartesian velocity profile and collision detection using this trajectories package?

lakshmip001

trajectory generation for 6DOF UR5 arm

I want to use this package for generation of trajectory from one waypoint to another waypoint on a straight line for UR5 robot arm. I am new to this package...

lakshmip001

Smoothed trajectory for non-moving points has extremely long duration

1

Given an input trajectory which is a pair of two of the same points, the duration of the smoothed trajectory is around 40s.

ehuang3

Different Max Velocity for different Parts of the trajectory

Hello, IF we wanted a certain part of the trajectory to be constrained to a different max velocity than the rest of the trajectory, How can we update the code...

Jad-Tawil

Ask for help!

1

In the CircularPathSegment,how to understand the function getSwitchingPoints? I don't figure out why the 3 dimensions of the vector y and x should be calculated separately when calculate the swithchingAngle....

SCUTBob