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List:       orocos-announce
Subject:    [Orocos] Trajectory Generation
From:       johan.rutgeerts () mech ! kuleuven ! be (Johan Rutgeerts)
Date:       2006-04-11 15:22:29
Message-ID: 200604111522.24548.johan.rutgeerts () mech ! kuleuven ! be
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> There is some waiting time between each target point.

If I understand you well, you want to realize a smooth trajectory through a 
number of setpoints.

The CartesianGenerator uses a trapezoidal velocity profile to interpolate 
between the current point and the target point. 
This means that the robot motion will always start and end with velocity equal 
to zero. This is good for point-to-point motion, but not if you want to 
realize a smooth trajectory through setpoints.


> In standart Output the resuIts  are coming as per input points.

I don't understand this.



> What is the best way to define the trajectory?

If you want a smooth trajectory through a number of setpoints, you will have 
to write a generator component that reads setpoints and does the 
interpolation.


Johan

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