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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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Restructure Spline class to be compatible with different type of Eigen Vectors #773

Closed GiulioRomualdi closed 10 months ago

GiulioRomualdi commented 10 months ago

This pull request brings about a restructuring of the spline class, ensuring compatibility with various types of eigen vectors. The specific changes include:

  1. The relocation of the spline class to the math component.
  2. To maintain backward compatibility in both C++ and Python, the previous class has not been removed but instead deprecated.
  3. Elimination of code redundancy in both CubicSpline and QuinticSpline implementations.
  4. Implement the possibility to efficiently query the points of a spline given an ordered time vector
GiulioRomualdi commented 10 months ago

Hi @S-Dafarra I applied the modification you suggested