A set of interpolators that describe how the robot's heading changes along a path.
ConstantInterpolator |
Constant heading interpolator used for arbitrary holonomic translations. class ConstantInterpolator : HeadingInterpolator |
HeadingInterpolator |
Interpolator for specifying the heading for holonomic paths. abstract class HeadingInterpolator |
LinearInterpolator |
Linear heading interpolator for time-optimal transitions between poses. class LinearInterpolator : HeadingInterpolator |
SplineInterpolator |
Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles). class SplineInterpolator : HeadingInterpolator |
TangentInterpolator |
Tangent (system) interpolator for tank/differential and other nonholonomic drives. class TangentInterpolator : HeadingInterpolator |
WiggleInterpolator |
Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end. class WiggleInterpolator : HeadingInterpolator |