Where is <quintic_spline_segment.h> is used?

asked 2018-12-17 03:30:20 -0600

prashanthi tata gravatar image

updated 2018-12-17 04:03:39 -0600

Hello,

I am using ros-kinetic version on ubuntu 16.04. When I try to plot acceleration profile of any of the joints of my 7 dof robotic arm, the profile from ros-control seems to have too many jerks and overshoots.

I want to smooth it using quintic spline interpolation technique and found <quintic_spline_segment.h> header file in ros controller package.

Can anyone please explain me where and how it is used.

Thanks in advance

edit retag flag offensive close merge delete

Comments

IIRC, quintic splines are already used if you provide position, velocity and acceleration in your trajectory. See also: wiki/joint_trajectory_controller: Trajectory representation.

gvdhoorn gravatar image gvdhoorn  ( 2018-12-17 04:05:24 -0600 )edit

As to where the header is used: see ros-controls/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp.

gvdhoorn gravatar image gvdhoorn  ( 2018-12-17 04:06:09 -0600 )edit
add a comment