Inverse s->time

[pantor]

Inverse s->time

[pantor]

For the real, spatial position, the inverse is not unique. For example, a trajectory starting from p=0 with v>0 with the same target position and the same positive target velocity will cross p=0 (at least) three times. Nonetheless, I think this features might still be useful.

If you mean a path position parameter (as often found for path-based time parametrization), this inverse is of course unique. However, ruckig does not expose a path position, and an additional interface for that would be required.

For all cases, Ruckig does not overshoot (see #22).

[pantor]

Thanks for your suggestion! In general, the inverse is not unique, so we could only have something like findTime(position) -> [time] returning a list of times.

[ahoarau]

The inverse is not unique, so it means s is not monotonic ?
I'm guessing in case of overshooting ?
Do we have access to this info in ruckig ? isOvershooting ?

[pantor]

The latest commit adds the method get_first_time_at_position, which returns the time that the trajectory passes a specific position of a given DoF the first time. You can find the documentation here.

[ahoarau]

That is awesome ! Thanks @pantor . @traversaro