Add Smooth Sinusoidal Interpolation for Natural Robot Motion

[Fouad-Smaoui]

Add Sinusoidal Interpolation to Pollen Goto

Overview

Added a new interpolation method that creates smooth, S-curve trajectories for robot movements. This complements the existing linear and minimum jerk interpolations in the pollen_goto package.

Technical Benefits

• Provides smooth acceleration/deceleration profiles
• Ensures zero velocity at trajectory endpoints
• Reduces mechanical stress on joints
• Maintains position accuracy while improving motion quality

Implementation Details

• Added sinusoidal interpolation function to interpolation.py
• Integrated with existing JointSpaceInterpolationMode enum
• Added visualization tools for comparing interpolation methods

[RemiFabre]

Hello,

Thanks a lot for your contribution, and apologies for the delayed response.

Your PR is well documented, easy to follow, and even includes tests. However, I’m not sure what additional value the sinusoidal interpolation provides compared to the existing min_jerk interpolation. All the points listed under “Technical Benefits” also apply to min_jerk, and in addition:

• min_jerk minimizes acceleration variation, which arguably makes it the smoothest option.
  -Your implementation doesn’t currently support non-zero starting_velocity, final_velocity, starting_acceleration, or final_acceleration, which min_jerk does.

Unless there’s a technical argument I’ve missed, we won’t merge this PR.
Please don’t be discouraged, this is good work, and we appreciate the effort you put into it.