Implement cubic spline class #344
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paolo-viceconte
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Jun 22, 2021
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It looks good to me, I just spotted a few potential fixes in the documentation. I will try to exploit this class soon, thanks @GiulioRomualdi!
src/Planners/src/CubicSpline.cpp
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| /** | ||
| * Description of a 5-th polynomial. It contains the coefficients, the initial/final knots and |
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Another 5-th order polynomial to be replaced with 3-rd
src/Planners/src/CubicSpline.cpp
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| /** | ||
| * @file CubicSpline.cpp | ||
| * @authors Giulio Romualdi | ||
| * @copyright 2020 Istituto Italiano di Tecnologia (IIT). This software may be modified and |
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Another 2020 to be replaced here
| CubicSpline::~CubicSpline() = default; | ||
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| bool CubicSpline::setInitialConditions(Eigen::Ref<const Eigen::VectorXd> velocity, | ||
| Eigen::Ref<const Eigen::VectorXd> /**acceleration*/) |
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Not sure whether the second parameter is left on purpose here. If so, how is it exploited?
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acceleration is not used however is required to keep the same interface between the two splines
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| bool CubicSpline::setFinalConditions(Eigen::Ref<const Eigen::VectorXd> velocity, | ||
| Eigen::Ref<const Eigen::VectorXd> /**acceleration*/) |
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This PR introduces the
Splineclass that is an abstract class.QuinticSplineandCubicSplineinherit fromSpline.I finally modify the SwingFoot planner, so the user can choose between the two spline implementations.