No fixed control cycle

[pantor]

No fixed control cycle

[pantor]

Yes, that should be good. Just as you've written, you need to call update after changing the input values, and then you can use the trajectory duration and the at_time method of the output parameters. Note that in Python the at_time method returns the new kinematic state as a tuple instead of using references like the C++ version.

[mdhom]

ok perfect, thanks. just another question: the duration of the trajectory i get after calling update on the fly, is it the new total duration (including all the time passed since the first call)?

[pantor]

Yes, it is the total duration from current to target state as in the input parameters.

[mdhom]

ok great, thanks. if you're ok, i'd like to provide an extra python example with this behaviour the next days?

[pantor]

Sure, just open a PR for that.