Derive velocities from spline#175
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splines Signed-off-by: Ari <nanoticity@gmail.com>
arinemet
changed the title
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
* simulator is just a copy of controller with added simulation at the end Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
position Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
work in sim) Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
* start from index 1 in velocity profile as index 0 has velocities 0, we are stuck * remove lookahead fully, sa it was only needed before the derivatives when we calculated direction from a difference * this caused us to jump to a high speed (1.5 m/s) immediately after starting * reduced spline degree to 3 for less cuts * need to clean up code!!! Signed-off-by: Ari <nanoticity@gmail.com>
pathing and go towards that new pose Signed-off-by: Ari <nanoticity@gmail.com>
for better performance Signed-off-by: Ari <nanoticity@gmail.com>
Signed-off-by: Ari <nanoticity@gmail.com>
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