RethinkRobotics/baxter_interface — pull request #46 by rethink-imcmahon (2014-12-04 04:10:01+00:00)
Title: Inverse Dynamics FeedForward

The Inverse Dynamics Feed Forward update to Baxter's Joint Trajectory Action Server (JTAS) is meant to

- Create smoother interpolated paths between trajectory points that are passed into the server by using Bezier curves. These curves keep the interpolated trajectory continuous in 3 dimensions (position, velocity, acceleration) for each joint
- Allow faster movements when using JTAS by feeding forward the trajectory's velocities and accelerations commands into the motor controller
- Maintain compatibility with trajectories that supply position-only trajectory points