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The time between trajectory points t(i+1) - t(i) is not fixed, but should be between 100 ms and 500 ms. Due to network latency and the controller structure, the trajectory points need to be created and sent ahead of time. The exact required lead time is TBD, but 1000 ms should be enough.

The reference trajectory is a function of continuous time, thus it also implicitly defines other kinematic quantities, such as yaw, yaw rate, curvature, acceleration and jerk, for any point in time.