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Jerk estimation supported by AbstractGeometricPath #234

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chibai opened this issue May 30, 2023 · 0 comments

chibai commented May 30, 2023

Is your feature request related to a problem? Please describe.
I wish I can get the Jerk of the AbstractGeometricPath

Describe the solution you'd like

instance = algo.TOPPRA([pc_vel, pc_acc], path, parametrizer="ParametrizeConstAccel")
jnt_traj = instance.compute_trajectory()
position = jnt_traj(ts_sample)
velocity = jnt_traj(ts_sample, 1)
acceleration = jnt_traj(ts_sample, 2)
jerk = jnt_traj(ts_sample, 3)

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