On 12/16/2013 01:25 PM, andy pugh wrote: > The equation becomes cubic in time, and somewhat harder to > solve. Things are (naturally) harder still in 9-space. I don't think jerk needs to be computed in 9-space. It really only needs to apply to each individual axis. But, maybe you mean that it affects all axes that have to be coordinated, and that is right. But, whichever axis needs to be slowed down to stay within its jerk constraint, then the others need to slow with it.
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