Need initial and ending velocity and acceleration constraints and generate time-even-distributed waypoints in the trajectory generation algorithm

[xiangfuli]

🚀 The feature, motivation and pitch

The trajectory generation algorithm in pypose only generate position-even-distributed waypoints and there is no way to set the velocity constraints at the starting waypoint and ending waypoint. While under most circumstance, we have to define the initial velocity and acceleration to match the

E.g. using ChSpline trajectory generation algorithm to generate waypoints from (0,0,0) to (1, 0.5, 0.1) based on 0.1 interval, the result is:

tensor([[0.0000, 0.0000, 0.0000],
        [0.1000, 0.0500, 0.0100],
        [0.2000, 0.1000, 0.0200],
        [0.3000, 0.1500, 0.0300],
        [0.4000, 0.2000, 0.0400],
        [0.5000, 0.2500, 0.0500],
        [0.6000, 0.3000, 0.0600],
        [0.7000, 0.3500, 0.0700],
        [0.8000, 0.4000, 0.0800],
        [0.9000, 0.4500, 0.0900],
        [1.0000, 0.5000, 0.1000]])

If I calculate the velocity between waypoints, the initial velocity is 1m/s and cannot be changed, which could cause the system(have 0 initial velocity and 0 acceleration) to have a large acceleration during 0 to 0.1s and then drop sharply between 0.1 to 0.2.

If the pypose trajectory generation algorithm supports to add the velocity and acceleration trajectory and generated the waypoints evenly distributed in the time domain rather than in the position domain, the problem will be resolved.

Alternatives

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Additional context

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