Implemented spline interpolation in joint space #543
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urmahp
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This PR hasn't made any progress for quite some time and will be closed soon. Please comment if it is still relevant. |
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This should be kept open and reviewed by me. |
fmauch
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This looks good and I tested it. Will rebase this once #640 is merged and then merge this if everything is well. |
I think this approach is superior to hardcoding a blend radius with MoveJ commands. This way we will result in a path that is closer to the one planned by MoveIt!
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fmauch
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