minjerk

A simple python package for calculating minimum jerk trajectories. It provides 4 different functions:

Multi-Interval Multi-Dim minjerk

The first two functions compute multi-interval minjerk trajectories for multi-dimensional data. They are provided with a list of timepoints, a list of positions and a list of velocities (no accelerations). It then computes minjerk trajectories between the given (time, position, velocitiy) truples and returns either the samples or the lambda functions for the trajectories. No acceleration constraints can be provided, but instead this functions allow you to ask for smooth_start (a0=0) and smooth_traj(acceleration does not jump) trajectories,.

get_multi_interval_multi_dim_minjerk_samples(..)
get_multi_interval_multi_dim_minjerk_lamdas(..)

Basic Multi-Dim Minjerk

The second two functions compute minjerk trajectories for multi-dimensional data with a single interval. In addition to before, providing the start and end accelerations is possible but optional.

get_min_jerk_trajectory_samples(..)
get_min_jerk_trajectory_lambdas(..)

Installation

After creating and activating your virtual environment, install the package with pip:

cd minjerk
pip install .