Support for inital starting acceleration?

[mitchmindtree]

Hi there, thanks for publishing your s-curve implementation!

I've been hunting around the net for an implementation that also accounts for an initial acceleration. I noticed that your implementation handles initial velocity, though assumes an initial acceleration of 0.0. The reason I'm interested in handling the initial acceleration is that I'm currently working with an interactive, kinetic artwork where the actuators' target positions change in real-time. I've been considering implementing something inspired by this paper, though am curious whether you have another approach in mind that you'd consider implementing in this crate?

[marcbone]

Hi,
my implementation is based on the book "Trajectory Planning for Automatic Machinesand Robots" by Luigi Biagotti and Claudio Melchiorri. The book always assumes an initial acceleration of zero and that was enough for my needs. Therefore, I didn't spend any time on this. However, I already heard from other people that it would be nice if you could also specify initial and end acceleration. I haven't looked into the paper in detail but it looks good to me. So if you open a merge request I would happily merge it 😅