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Added missing robot state update to iterative spline parameterization #1298
The iterative spline parameterization is missing an update to the robot states of the trajectory after iterating over each point. These leads to lots of warnings of the following kind:
This PR adds the missing
I did not auto-format with clang as this changed lines unrelated to my PR.
Updating all states can be quite a bit of unnecessary computation here and I would prefer to avoid it where possible.
Looking at the code, it conditionally includes two new waypoints if
So how about we skip the