>
> [1] http://wiki.linuxcnc.org/cgi-bin/wiki.pl?TrajectoryControl
> --

This wiki page has notes on the exact-stop trajectory planner
http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_Tp_Notes

The reasoning and math behind the current G64-blending code in
LinuxCNC is not well documented..
Improvements for 1) jerk-limited control and 2) better lookahead have
been discussed from time to time but so far the commits/patches have
been missing..

Anders

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