why 4th order Bezier Curves is used instead of 3rd order, like MIT?

ShuoYangRobotics / A1-QP-MPC-Controller

An open source implementation of MIT Cheetah 3 controllers

GNU Affero General Public License v3.0

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Closed Harvey2019 closed 2 years ago

Harvey2019 commented 2 years ago

In the code I notice that 4th order Bezier Curves with 5 control point is used. I am curios about the reason why it is adopted. Thank you!

ShuoYangRobotics commented 2 years ago

it is just a design choice. feel free to change it.