Splines collision check #22
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added 30 commits
July 14, 2024 20:27
…ing splines. If true, robot motion is more safe, yet a little bit slower. Note that when 'GUARANTEED_SAFE_MOTION' is true, this parameter is always true.
…now be set in a yaml file.
…rrentState' function.
… Most code is moved from 'updateCurrentState.cpp' file.
…ferent types/orders together.
…if possible), regular one and emergency one, and they are merged in one composite spline. If the computation is not possible, safe spline from the previous iteration is used, which is surely safe.
…n all extrema of a position function.
…ound is not included. Otherwise, when set to a number greater than zero, it determines the starting robot's link that may collide with ground.
…ce its single iteration may execute relatively long.
added 4 commits
August 5, 2024 13:10
…locity is adaptively determined (preferably non-zero).
…E_COMPUTE_SAFE due to existing of two kinds of splines.
roboticsETF
approved these changes
Aug 6, 2024
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