Added handling of spline interpolation with end point velocities

UniversalRobots / Universal_Robots_Client_Library

A C++ library for accessing the UR interfaces that facilitate the use of UR robotic manipulators by external applications.

Apache License 2.0

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Added handling of spline interpolation with end point velocities #169

Closed urmahp closed 12 months ago

urmahp commented 1 year ago

Added test for spline interpolation and trajectory data as test artifacts

When spline interpolation has end points with velocities, the time is scaled such that the trajectory is followed, but we end with zero velocity.

codecov[bot] commented 1 year ago

Codecov Report

Patch coverage is 100.00% of modified lines.

Files Changed	Coverage
include/ur_client_library/ur/ur_driver.h	`ø`
src/ur/ur_driver.cpp	`100.00%`

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fmauch commented 12 months ago

@urmahp this is done and ready for final review? @urrsk will you review this or should I take a deeper look?

urmahp commented 12 months ago

It is done and ready for final review. You are more than welcome to have a look @fmauch.

urrsk commented 12 months ago

@fmauch please look as well.

urmahp commented 12 months ago

Thanks for the suggestions @fmauch, I have added some changes based on the comments to make the code easier to understand, so please have a look and let me know what you think :)