Be able to set waypoint headings and velocities

[ritikmishra]

I think that the angle can be best achieved with the use of intermediate waypoints

[andrewgazelka]

@ritikmishra I agree that intermediate waypoints should help determine heading, and maybe a modified Pure Pursuit would determine velocity at a certain period. However, when picking up cubes I am thinking we will need a specific heading (and lowered velocity). Maybe we can combine Pure Pursuit with some more basic trajectory alg when we get very close to the destination?

[andrewgazelka]

what probably makes more sense is being able to set max/min velocities between waypoints (dynamic versions of VR_MAX,VL_MAX,VR_MIN,VL_MIN)

[ritikmishra]

Perhaps we can fix theta in splines where we can set the derivative at a control point (speed works)

[andrewgazelka]

If this were added, it would be with splines.

[ritikmishra]

Alright, I've figured out how to make parametric cubic splines. Hopefully this will be fixed soon

[andrewgazelka]

Yay. 👍 let's close this after we do unit tests in the simulator.

[ritikmishra]

Unit tests on splines have been completed in the simulator and are quite successful.

🎉