[feature]: frenet optimal planner uses finite difference for accel #51
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…se jerk calculation from polynomial derivative instead.
Contributor Author
| Don't mind the branch name; I realized after creating the pr that it's not a bug fix, but rather a feature change that I have submitted. Cheers! |
Contributor Author
| I tested with an old copy and it didn't work as expected. I will fix and submit a proper merge request later in the evening. Apologies for the mixup. |
Owner
| @jwdinius OK. Take you time. I appreciate your contribution again!!. |
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I made mods (like the previous pr) to the frenet optimal planner to use the analytic calculation of jerk (third derivative of polynomial in time) rather than the finite difference currently used.