Enum InterpolationMethod

• Defined in File interpolation_methods.hpp

Enum Documentation

enum class joint_trajectory_controller::interpolation_methods::InterpolationMethod

Defines the available interpolation methods used for fitting data curves. This enumeration specifies how intermediate values between data points should be calculated.

Values:

enumerator NONE

No interpolation is performed. This is typically used when data points are discrete and should not be connected by a curve.

It returns the initial point until the time for the first trajectory data point is reached. Then, it simply takes the next given datapoint.

enumerator VARIABLE_DEGREE_SPLINE

Uses a variable-degree spline interpolation. The degree of the spline is determined dynamically based on the number of available derivatives. This provides a smooth, continuous curve between data points.

Based on available derivatives, it uses the following degree interpolation,

1. If only position is available: Linear Interpolation.

2. If position, and velocity are available: Cubic Spline Interpolation.

3. If position, velocity, and acceleration are available: Quintic Spline Interpolation.