[cpp] Construct spline with 1st and 2nd order derivatives at curve endpoints - Githubissues

hungpham2511 / toppra

robotic motion planning library

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

MIT License

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[cpp] Construct spline with 1st and 2nd order derivatives at curve endpoints #161

Closed leonardoedgar closed 3 years ago

leonardoedgar commented 3 years ago

Extension for #157

Changes in this PRs: Enable to construct spline with:

1st order derivatives at curve endpoints (incl. Clamped Spline)
2nd order derivatives at curve endpoints (incl. Natural Spline)
A mixed of 1st order and 2nd order derivatives at curve endpoints

Implementation is based on: https://jmahaffy.sdsu.edu/courses/s10/math541/lectures/pdf/week06/lecture.pdf

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