Generating trajectory from 1 point to another point with minimal jerk.
Overview on minimum jerk trajectory can be found at http://shadmehrlab.org/book/minimum_jerk/minimumjerk.htm
Some papers on this topic:
Amirabdollahian, F., Loureiro, R., & Harwin, W. S. (2002). Minimum jerk trajectory control for rehabilitation and haptic applications. In Proceedings of IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3380–3385). Ieee. http://doi.org/10.1109/ROBOT.2002.1014233
Kyriakopoulos, K. J. (1994). Minimum jerk for trajectory planning and control. Robotica, 12(02), 109. http://doi.org/10.1017/S0263574700016696
anything in the attached zip folder? after my downing only a licence
Nice vectorized implementation.
A thought: It might be nice to include an additional argument so that the user could more easily use this function to evaluate intermediate points along the trajectory. Something like:
min_jerk(xi, xy, ti, tf, t)
You also might find the following submission interesting:
Fixed: Wrong calculation after previous update.
Vectorizing the output, such that for loop becomes unnecessary.