S4 - CurvePlanner (motion-planner)

[Juan-Antonio_Soren_E]

Ok i think i cracked it!

Here are the transition times between the 15 segments.

         // Calculate transition times for acceleration phase, using Ts (varying jerk), Tj (constant jerk), and 
         //Tv(constant velocity - aka cruice)
         t1 = Ts;
         t2 = t1 + Tj;
         t3 = t2 + Ts;
         t4 = t3 + Tj;
         t5 = t4 + Ts;
         t6 = t5 + Tj;
         t7 = t6 + Ts;

        //Constant velocity
         t8 = t7 + Tv;

        // Calculate transition times for deceleration phase
         t9 = t8 + Ts;
         t10 = t9 + Tj;
         t11 = t10 + Ts;
         t12 = t11 + Tj;
         t13 = t12 + Ts;
         t14 = t13 + Tj;
         t15 = t14 + Ts;