Hi,
Have anyone got a good understanding of the trajectory planning of emc 2.0? Now i just do some work about the part and puzzled at tp.c, that is, how to interpolate ines/arcs baesd on velocity planning?
If you will give me some advice or provide me with some documents, that would be great appreciated!
Thanks!

does this help?
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl/emcinfo.pl?TrajectoryControl
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl/emcinfo.pl?Simple_Tp_Notes
Otherwise get on the irc channel - #emc on irc.freenode.net

Also you might want to get on the sourceforge emc mailing list.
http://sourceforge.net/mail/?group_id=6744

sam