I implemented a SE2 slerp curve based on Pose2 from GTSAM. The curve is successfully tested based on the MITb dataset, using iSAM2 to incrementally optimize the curve. I will test the implementation more extensively using another dataset but I guess that will be out of the curves library.
Hi @gawela @enricgalceran
I implemented a SE2 slerp curve based on Pose2 from GTSAM. The curve is successfully tested based on the MITb dataset, using iSAM2 to incrementally optimize the curve. I will test the implementation more extensively using another dataset but I guess that will be out of the curves library.
Does anybody want to review this?