How to Restrict Ruckig to Generate Straight Line and Circular Arc Interpolation Points?

[QiuYilin]

Hi Ruckig Team,

I am currently using Ruckig for trajectory generation in my robotics project. I would like to know if there is a way to restrict Ruckig to generate interpolation points that follow straight lines and circular arcs. Specifically, I am looking for methods or parameters that can be set to achieve this type of path planning.

Here are my specific questions:

1.Is it possible to configure Ruckig to generate straight line interpolation points between waypoints?
2.Can Ruckig be set to follow circular arcs for certain segments of the trajectory? If so, how can this be achieved?
3.Are there any examples or documentation that demonstrate these capabilities?
4.If Ruckig does not support this functionality, what are the recommended approaches to achieve straight line and circular arc interpolation in trajectory planning?