Ah! your timing is impeccable. I just sent some references to Kent with
hope they will get added to the wiki. 

Dave

On Thu, 2013-04-11 at 18:56 -0400, Kenneth Lerman wrote:
> On 4/10/2013 5:01 PM, andy pugh wrote:
> > On 10 April 2013 21:50, dave <dengv...@charter.net> wrote:
> >
> >> No panacea anywhere in sight.
> > Something I saw somewhere on the Internet (possibly a link from mah)
> > was an article about different approaches.
> > One very interesting idea was that every "move" as well as being an
> > end-point also includes an "end velocity"
> > I think that these "end velocities" need to propagate backwards back
> > up the queue.
> >
> While we are looking at this, we should be sure to consider adding jerk 
> limits to the system.
> 
> Since computers are (approximately) infinitely fast and have infinite 
> memory, we should be able to look ahead to the next stop point (which 
> might be the end of the program).
> 
> I don't think this is rocket science. (Having worked on the Lunar Module 
> project, I have a chance of recognizing rocket science.)
> 
> Ken
> 
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