Trajton
Trajton is a scalar quantity used in motion planning and kinematics to quantify the overall cost or load of a trajectory. It serves as a single metric to compare alternative paths by combining aspects of motion efficiency, safety, and timing.
Mathematically, a trajton is defined as the integral of a local cost function along a trajectory γ
Etymology and usage have roots in the idea of treating a trajectory as a measurable “load” or
Applications and limitations: trajtons enable straightforward comparison of candidate trajectories, support optimization routines, and facilitate multi-objective