A .NET Minimum Jerk trajectory computer for the ARNIE architecture
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Properties
.gitignore
AutomatedCommander.cs
Coordinate.cs
EquationParameters.cs
IOThread.cs
InputThread.cs
LICENSE
OutputThread.cs
PYT.csproj
PYT.sln
PYT.suo
Program.cs
Trajectory.cs
TrajectoryDispatcher.cs
app.config
readme.md

readme.md

PYT

PYT is a .NET command-line application that computes minimum jerk trajectories for an n-dimension coordinate space.

It was written to work with the ARNIE system (see Spine, my libfreenect fork) and provide nice smooth human-like motion to the arm.

Credits

The calculations performed in this program are based on mathematics by William Harwin at the University of Reading, based on some older historic work. A few modifications were made to make it work in practice.

How did the name come about?

Follow this thought pattern:

  • Jerk (stupid name)
  • MinJerk (bleh)
  • MJ
  • Michael Jackson
  • Michael Jackson song
  • Pretty Young Thing
  • PYT

License

Copyright 2011 Chris Alexander. Licensed under the MIT License. See the LICENSE file for more information.