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As this does not seem to either improve or worsen performance, we leave it as is and do not merge it. But for now we keep the branch. |
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We can also just restore the branch from this PR. I am deleting it now to reduce clutter. |
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Summary
Switch from quintic to cubic. We do not set the acceleration anymore and just need 4 coefficients to set the spline.
Also a lot of the time the acceleration is not even set
Proposed changes
Cubic splines look like this for walking:
Fairly similar to the quintic splines:
Related issues
#598
Checklist
colcon build