Can I use this for car like trajectory generation?

[lingerer]

That means only liner velocity and rotate speed. I try some test and found its result only mav can follow,I am not sure how to force only x dimension speed for robot's local posion.

BTW,the doc in readme about Nonlinear Optimization
There's only 2 parameters for PolynomialOptimizationNonLinear now.

[lingerer]

I found polynomial path is wriggled for a car though it is fine for a mav.