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:

//time          //jerk          //acceleration  //velocity      //position
8.0000000e-02   0.0000000e+00   0.0000000e+00   0.0000000e+00   0.0000000e+00
2.4000000e-01   1.0000000e+04   0.0000000e+00   0.0000000e+00   0.0000000e+00
8.0000000e-02   0.0000000e+00   2.4000000e+03   2.8800000e+02   2.3040000e+01
2.4000000e-01  -1.0000000e+04   2.4000000e+03   4.8000000e+02   5.3760000e+01

The jerk within the second interval is 1e4 while the acceleration, velocity and position are all zero at the beginning of this interval. The jerk is set to zero in the third interval. The acceleration, velocity and position must be set to the values they reached at the end of interval two in order not to cause any discontinuities.

The trajectory may be scaled in time and jerk in order to achieve a positional change within a given time interval.

A path planner block has four output signals - jerk, acceleration, velocity, and position.