Interpolating spline #141
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Interpolating spline #141
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spatialmath/spline.py
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| interpolation_indices.remove(0) | ||
| interpolation_indices.remove(len(self.pose_data) - 1) |
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Why not just use range(1, len(self.pose_data) - 1)? Or `range(len(self.pose_data))[1:-1]? The current way seems a bit unconventional but I guess it doesn't matter.
spatialmath/spline.py
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| interpolation_indices.remove(0) | ||
| interpolation_indices.remove(len(self.pose_data) - 1) | ||
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| for _ in range(len(self.time_data) - 2): # you must have at least 2 indices |
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May as well use len(interpolation_indices) and drop the - 2
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the length of interpolation indices is changing as the loop executes
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your suggestion might work anyway, but that's why i didn't code it like that originally
bokorn-bdaii
approved these changes
Oct 22, 2024
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Adds functionality for generating a dense SE3 trajectory interpolated from sparse waypoints. Includes a SplineFit class to downsample the waypoints.
Ideally this SplineFit class would also work with the BSplineSE3 class, but I'm going to leave that for another day.