code: private Steerable<T> calculateTarget () {
  		this.jumpTarget.position = jumpDescriptor.takeoffPosition;
  		this.airborneTime = calculateAirborneTimeAndVelocity(jumpTarget.linearVelocity, jumpDescriptor, getActualLimiter()
  			.getMaxLinearSpeed());
  		this.isJumpAchievable = airborneTime >= 0;
  		return jumpTarget;
  	}
docs: Works out the trajectory calculation.