[PI - 260] Implement spline interpolation #34
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threeal
requested changes
Feb 13, 2023
| @@ -35,20 +36,24 @@ class JointProcess | |||
| explicit JointProcess(uint8_t joint_id, float position = 0.0); | |||
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| void set_target_position(float target_position, float speed = 1.0); | |||
| void set_spline(keisan::Spline spline); | |||
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i suggest to pass by const ref instead (const keisan::Spline&).
src/akushon/action/model/action.cpp
Outdated
| uint8_t joint_id = joint.get_id(); | ||
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| if (joint_splines.find(joint_id) != joint_splines.end()) { | ||
| joint_splines[joint_id] = new keisan::SmoothSpline(); |
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please use std::shared_ptr instead, it's more safe. And you don't need to delete this later.
threeal
approved these changes
Feb 17, 2023
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Jira Link: https://ichiro-its.atlassian.net/browse/PI-260
Description
Implemented spline interpolation for motion for smoother motions, can toggle whether to use spline or not from the actions json.
Type of Change
How Has This Been Tested?
Checklist:
feature/JIRA-ID-SHORT-DESCRIPTIONif has a JIRA ticketenhancement/SHORT-DESCRIPTIONif has/has no JIRA ticket and contain enhancementhotfix/SHORT-DESCRIPTIONif the change doesn't need to be tested (urgent)