I have a sort of related question. So it looks like the code is ran through the trajectory planner, and then the low pass filter (time lag) is applied to the output after right? Would it be possible to have a low pass filter applied first and then ran through trajectory planner after?
Ive had a few issues with poor performance surfacing, slowing way down because of tiny segments in the code that are sometimes unavoidable. I was thinking if a low pass filter were applied first it would eliminate much of these tiny segments or at least smooth them, and if this smoother path was then ran through the trajectory planner it should run much faster. Any thoughts on this?