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


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

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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