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Author: mattia-gramuglia

MATLAB_files/Minimum_jerk_trajectory_generator/trajectory_PolynomialCoefficientMatrix.csv

@@ -1,15 +1,15 @@
-0,0,0,0,1.62348275027562,-1.29624495261906,0.428031826094005,-0.053827518676689
-0,0,0,0,0.383074267880126,-0.42778669016465,0.157813804297835,-0.0198445130927705
-0,0,0,0,-0.682558191649193,0.648794965595924,-0.22629643773732,0.028456751425828
-5,6.31923404218701,1.81953550891596,-0.520254386462646,0.0638942299693902,-0.121746679411709,0.0443530105075119,-0.00562173155588254
-0,-0.554650081384914,-0.489352550910436,0.0904078921570809,0.308981281087033,-0.105176446875801,0.0159816383800631,-0.00201118612918736
--1,-0.63855629189472,0.333992549292921,0.219683851135897,-0.222815182899356,0.0892083315650987,-0.0231136161379514,0.00291655723957805
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--1,0.209004136180564,-0.146143616380208,-0.0594108773635152,0.0498471202736438,0.00234276249484161,-0.00638415024392812,0.00107730149300951
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--1,-0.103192720076255,0.025511306694085,0.0523382172397291,-0.0285511119263052,0.00579187469384813,-0.000972574866504413,0.000151227090096673
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--1,0.0576408694373563,-0.0141294640071302,-0.0153204986033647,0.00215552846804218,0.00319013742163829,-0.0011091949931445,0.000103858815497634
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MATLAB_files/Minimum_jerk_trajectory_generator/trajectory_WaypointTimes.csv

@@ -1,6 +1,6 @@
 0
-2
-4
-5.5
-7.5
-11
+1
+2.5
+5
+8
+14

MATLAB_files/Minimum_jerk_trajectory_generator/trajectory_generator_test.m

@@ -13,14 +13,13 @@
              0 -1  -1  -1  -1 -1];
 
 % Coefficient to scale the waypoints' times
-% traj.alphaFactor = 1;
-traj.alphaFactor = 0.5;
-
-% traj.tpts = traj.alphaFactor*[0 6 10 16 22 32]';
+traj.alphaFactor = 1.5;
+% traj.alphaFactor = 0.5;
 
 % Waypoints' times
 % traj.tpts = traj.alphaFactor*[0 4 8 14 20 30]';
-traj.tpts = traj.alphaFactor*[0 4 8 11 15 22]';
+% traj.tpts = traj.alphaFactor*[0 4 8 11 15 22]';
+traj.tpts = traj.alphaFactor*[0 2 5 10 16 28]';
 
 % Number of samples used to evaluate the trajectory
 traj.numsamples = 200;