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ParabolicTrajectoryRetimer assumes all waypoints have velocity 0 #9

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fsuarez6 opened this issue Apr 13, 2018 · 1 comment
Open

ParabolicTrajectoryRetimer assumes all waypoints have velocity 0 #9

fsuarez6 opened this issue Apr 13, 2018 · 1 comment
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@fsuarez6
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As documented here, the ParabolicTrajectoryRetimer assumes all waypoints have velocity 0 (All waypoints will have velocity 0 after retiming).

This affects the performance of the planning.plan_cartesian_twist method.
@fsuarez6 fsuarez6 self-assigned this Apr 13, 2018
@hungpham2511
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We can use toppra to fix this!

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@fsuarez6 @hungpham2511