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--- eeros_architecture:control_system:available_blocks:pathplannercubic [2020/08/31 11:43] – ursgraf
+++ eeros_architecture:control_system:available_blocks:pathplannercubic [2020/09/03 08:58] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== Path Planner Cubic ======
-This path planner takes precalculated cubic splines from a file and outputs the resulting values for jerk, acceleration, velocity and position onto its outputs. The file must contain piecewise information about the jerk within a given interval together with the start conditions for acceleration, velocity and position at the beginning of the interval. You must make sure, that these initial values are the results from the last interval. Let's make an example with the following four intervals:
+This path planner takes precalculated cubic splines from a file and outputs the resulting values for jerk, acceleration, velocity and position onto its outputs. All these values are given for one dimension. The file must contain piecewise information about the jerk within a given interval together with the start conditions for acceleration, velocity and position at the beginning of the interval. You must make sure, that these initial values are the results from the last interval. Let's make an example with the following four intervals:
 <code>
 //time          //jerk          //acceleration  //velocity      //position
@@ Line 15: / Line 15: @@
   init(filename);
 </code>
-where ''filename'' denotes a ou dispatch a file containing the new trajectory.
+where ''filename'' denotes a file containing the new trajectory.
 \\
 When calling