Advanced trajopt functionality

[j-polden]

Hi there,

I have been using Klampt's kinetrajopt implementation to solve some free-space motion planning queries for articulated industrial robot applications with great success.

However i am wondering if the module can be leveraged to solve more complex trajectory planning problems. For example, a tool path trajectory that which is attached to a workpiece positioner (an example setup shown here ) whilst also applying some pose constraints for the robot's tool link?

I've read through the documentation but i could not exactly find what i was after.... Perhaps I have overlooked something. Any suggestions?

Thanks!