Adding snap(derivative of jerk) in trajectory
Hi
I am using ROS Kinetic with Ubuntu 16.04. I want to implement quintic spine on acceleration profile in the trajectory given by MoveIt!. I have already applied the jerk limits and produced a better acceleration profile (trapezoidal). however I want to implement snap continuity (derivative of jerk) to make the acceleration profile more smooth. I didn't find any documents related to it. Can someone help me with it ?
What exactly are you looking for? Whether such limits are currently supported? Or how to add the functionality yourself?
I want to achieve smoothness at jerk level. hence it need to provide snap limits. I want to know whether snap limits are currently supported and if not how to make that functionality ?