How would I generate a trajectory (e.g. minimum snap/jerk/acceleration) for a quad rotor between GPS coordinates? In all the examples that I have seen, they assume that the x,y positions are in meters relative to a starting point (0,0). Is it as simple as calculating the distance of a straight line between the 2 points and dividing that up into segments to create a continuous path?
By the way I'm ignoring the z/altitude value as that value will be a constant value throughout in my case.
A sample trajectory for reference that I have seen when applying boundary conditions to a quin-tic polynomial to generate velocity and acceleration polynomials.
time, x, y
0.0, 0.0, 0.0
0.1, 0.00350070021007, 0.00350070021007
0.2, 0.0105021006302, 0.0105021006302
0.3, 0.0210042012604, 0.0210042012604
0.4, 0.0350070021007, 0.0350070021007
0.5, 0.0525105031511, 0.0525105031511
0.6, 0.0735147044115, 0.0735147044115
0.7, 0.098019605882, 0.098019605882
0.8, 0.126025207563, 0.126025207563
0.9, 0.157531509453, 0.157531509453
1.0, 0.231046213865, 0.231046213865
1.1, 0.273054616385, 0.273054616385
1.2, 0.318563719116, 0.318563719116
1.3, 0.367573522057, 0.367573522057
1.4, 0.420084025208, 0.420084025208
1.5, 0.47609522857, 0.47609522857
1.6, 0.535607132141, 0.535607132141
1.7, 0.598619735922, 0.598619735922
1.8, 0.665133039913, 0.665133039913
1.9, 0.735147044115, 0.735147044115
2.0, 0.808661748526, 0.808661748526