By6666 / piecewise_jerk_demo

piecewise_jerk_demo

introduction

This repo primtive achieve piecewise jerk algorithem base on apollo source code. Apollo code has universal interface for everyone but I only use part of it. So I simplified part of it.

Link

• piecewise jerk theory

• osqp

• matplotlib-cpp

Tip

• apollo use osqp-0.4.1, if you want to using latest osqp(current 0.6.1), it should be noted that the input mode of kernel matrix is upper triangular.