optimization.trajectory

The nodes of a planned motion, as the terms of a problem see them.

Classes

Trajectory(t, dt, q, v, a, u, blend, shapes, ...)

Node times t [s], and per node the configuration q, velocity v, acceleration a and motor torques u as CasADi columns, plus the blend weight of the new controller and, when it has virtual states, its state z (positions, then velocities).