Added handling of spline interpolation with end point velocities #169
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Codecov ReportPatch coverage is
📢 Thoughts on this report? Let us know!. |
urrsk
requested changes
Aug 29, 2023
Added test for spline interpolation and trajectory data as test artifacts When spline interpolation has end points with velocities, the time is scaled such that the trajectory is followed, but we end with zero velocity.
|
It is done and ready for final review. You are more than welcome to have a look @fmauch. |
urrsk
approved these changes
Sep 1, 2023
|
@fmauch please look as well. |
fmauch
reviewed
Sep 1, 2023
|
Thanks for the suggestions @fmauch, I have added some changes based on the comments to make the code easier to understand, so please have a look and let me know what you think :) |
fmauch
approved these changes
Sep 1, 2023
| # Maximum allowable joint speed in rad/s | ||
| local max_speed = 6.283185 | ||
| # The time needed to decelerate with 15 rad/s^2 to reach zero velocity when we move at maximum velocity. | ||
| local deceleration_time = max_speed / max_deceleration |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Added test for spline interpolation and trajectory data as test artifacts
When spline interpolation has end points with velocities, the time is scaled such that the trajectory is followed, but we end with zero velocity.