[cpp]Implement trajectory parametrizer

hungpham2511 / toppra

robotic motion planning library

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

MIT License

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[cpp]Implement trajectory parametrizer #129

Closed hungpham2511 closed 4 years ago

hungpham2511 commented 4 years ago

Fixes #102

Changes in this PRs:

[x] Constant Accel parametrizer
[x] Unit tests

Checklists:

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

hungpham2511 commented 4 years ago

@jmirabel Please let me know your comments if you have any. Thanks.

@ndehio The approach example is working now. Aside from a few bugs in my parametrizer impl, it fails because of a numerical error. In this case, you should use Interpolation method. See another of my comments.

In fact, I think Interpolation should be the default option and will probably make that change shortly.