[cpp] Add the possible to use varying joint velocity limits.

hungpham2511 / toppra

robotic motion planning library

https://hungpham2511.github.io/toppra/index.html

MIT License

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[cpp] Add the possible to use varying joint velocity limits. #125

Closed jmirabel closed 4 years ago

jmirabel commented 4 years ago

Fixes #124

Checklists:

[x] Update CHANGELOG.md with a single line describing this PR

hungpham2511 commented 4 years ago

Fantastic. Do you think it's possible to have a default implementation that linearly interpolates some given limits?

jmirabel commented 4 years ago

Fantastic. Do you think it's possible to have a default implementation that linearly interpolates some given limits?

I implemented this to give the design which avoids duplicated code. Maybe @thummel42 can do what you suggest.

hungpham2511 commented 4 years ago

Ok I will merge this PR as it is. @thummel42 If you would like to contribute your implementation of a Varying velocity constraint, please feel free to open a PR.