When calculating a trajectory, is it possible to set the number of waypoints or specify a time interval?

[sm3304love]

Hello,

I am implementing a hybrid planner using TrajOpt as the global planner and MPC as the local planner. I would like to increase the number of waypoints in the trajectory calculated by TrajOpt to make the trajectory denser (e.g., having each waypoint every 0.01 seconds). I have been searching for examples that use this feature, but I haven’t been able to find any.

Does Tesseract have a feature that allows for this?

[Levi-Armstrong]

I would recommend taking the trajectory provided by trajopt and then us something like ruckig or toppra to create the geometric trajectory which then I believe provides function to sample the trajectory a the 0.01 seconds interval and get the position, velocity, etc for executing the trajectory.