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.
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