Just happened to come across this: [opt_control](https://github.com/AIS-Bonn/opt_control) (by Marius Beul from AIS Uni Bonn): > **opt_control** generates time-optimal second- and third order trajectories from arbitrary start- to arbitrary target states. The trajectories respect per-axis constraints on minimum and maximum velocity, acceleration and jerk. Unfortunately right now only available as a matlab implementation, but this might be a good candidate for a MoveIt planning adapter (similar to the IPTP and the ISP) or a stand-alone trajectory generation tool for applications. As I won't necessarily have time to implement this myself, thought I'd post it to this group to see whether someone would be interested in working on this. --- [Visit Topic](https://discourse.ros.org/t/jerk-limited-trajectory-generation-opt-control/5775/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: