This path planner with constant acceleration generates a trajectory where the acceleration is always constant. The trajectory leads from the start position to its end position. Both positions can be specified in several dimensions. The acceleration is set to a positive constant value. The velocity starts from 0 and goes up to its maximum value which can be chosen for each dimension. After this maximum velocity is reached the acceleration is set to 0 and the trajectory continues with constant velocity. Towards the end a constant deceleration makes sure that the final position is reached with the velocity reaching 0.

Path planner output for a given path

The trajectory file is loaded with

  init(filename);

where filename denotes a file containing the new trajectory.
When calling

  move(startPos);

you dispatch a new trajectory. The trajectory is taken from the path file, no scaling is made. The trajectory starts from startPos and moves the distance given in the trajectory path file within the time given in the same file.
You can also call

  move(time, startPos, deltaPos);

This will take the trajectory from the file and scale it so that it starts at startPos and moves the distance given by deltaPos within the desired time.