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stonier / ecl_core

A set of tools and interfaces extending the capabilities of c++ to provide a lightweight, consistent interface with a focus for control programming.
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Check why smooth linear interpolation is so lazy #20

Closed bit-pirate closed 11 years ago

bit-pirate commented 11 years ago

The interpolation result contains periods at the start and end, in which exactly nothing happens: acc = vel = 0 for all joints.

For trajectories which contain large position differences for one or more joints, these lazy periods can grow to 0.5sec at the beginning and end.

bit-pirate commented 11 years ago

This is a bug in ecl_manipulation. Ticket has been moved there: https://github.com/stonier/ecl_manipulation/issues/1