Recalculating trajectory on the fly

[laghai]

We are attempting to recalculate the trajectory on the RoboRio on every robot cycle, for guiding the robot towards the goal using vision. Calculating a new trajectory takes about 2 seconds even for 10 points, and about 5 seconds for 1000 points. How can we possibly reduce the initial overhead and get the trajectory calculation to fit in the 50 ms robot cycle (we can probably do with as few as 5-10 points)?

[JaciBrunning]

The way Pathfinder v1 is designed requires the full path to be generated at once. You can't do any 'on the fly' calculations