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dddvision / functionalnavigation

Trajectory Optimization Manager for Multiple Algorithms and Sensors (TOMMAS)
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XDynamics violates C1 continuity #23

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?

1. Run the testbed with uri='matlab:MiddleburyData' and packageName='XDynamics'

What is the expected output? What do you see instead?

The output trajectory should be C1 continuous everywhere, but XDynamics 
exhibits a sharp change after the endpoint of the underlying reference 
trajectory.

This can be fixed by predicting future states using a constant velocity model.

Original issue reported on code.google.com by dddvis...@gmail.com on 28 Jul 2010 at 10:04

GoogleCodeExporter commented 9 years ago 
Angular velocity can be extracted from the endpoint using the formula:

[0;omega]=2*Quat2Homo(QuatConj(q))*qdot;

Original comment by dddvis...@gmail.com on 3 Sep 2010 at 5:40

GoogleCodeExporter commented 9 years ago

Original comment by dddvis...@gmail.com on 13 Oct 2010 at 5:52