On Tuesday 17 December 2013 00:18:09 dave did opine:

> On Mon, 2013-12-16 at 19:25 +0000, andy pugh wrote:
> > On 16 December 2013 19:05, Gene Heskett <ghesk...@wdtv.com> wrote:
> > > This "jerk" you are discussing seems like the ideal place to have a
> > > module similar in nature to one of the limit functions, and which
> > > would subject a step change in speed to what I would call in a
> > > broadcast waveform analyzing situation as a "sine-squared"
> > > function.
> > 
> > Unfortunately it isn't quite that simple, as the motion planner needs
> > to be able to put the controlled point at the right place at the
> > right time.
> > 
> > For the infinite-jerk case the motion planner has to solve the
> > equation s = ut + 1/2 at^2
> > For the finite-jerk case the equation is s = ut + 1/2 at^2 + 1/6 jt^3.
> 
> I suspect that harder is equivalent to slower and probably for 9 space
> MUCH slower.
> 
> However, this is one solution and has been around awhile.
> 
> www.sites.mech.ubc.ca/~caris/Publications/sonja.pdfâ€ژ
> 
> Dave

That looks what I was going on about.  The waveforms are precisely what I 
meant.  I assume this is computationally intensive?

Seems to me like weighted shift registers could get us there too, using 
stepwise approximations with 10% of the data shuffling.  OTOH I don't think 
its going to be easy to carve it up and paint it in a .hal file either. 
Suitably scaled, byte wide integers could do it nicely, and that should be 
plenty fast.  Food for thought when I'm bored...

> > The equation becomes cubic in time, and somewhat harder to solve.
> > Things are (naturally) harder still in 9-space.
> 
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Cheers, Gene
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