Module minimum_snap_trajectory 

Minimum-snap 3D trajectory generation for drone waypoint tracking.

This module builds piecewise seventh-order polynomial segments with position, velocity, acceleration, and jerk boundary constraints. The generated trajectory can be sampled into DesiredState values and fed into the existing quadrotor PD tracker.

Structs

MinimumSnapBoundary

Full boundary conditions for one 3D minimum-snap endpoint.

MinimumSnapCoeffs

Coefficients of a seventh-order polynomial: c[0] + c[1] * t + ... + c[7] * t^7.

MinimumSnapSegment

A piecewise minimum-snap segment for x/y/z.

Functions

generate_minimum_snap_segment

generate_minimum_snap_segment_full

generate_waypoint_minimum_snap_trajectory

generate_waypoint_minimum_snap_trajectory_with_durations

sample_minimum_snap_trajectory

simulate_minimum_snap_following