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[wpimath] Optimize 2nd derivative of quintic splines (#3292)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Prateek Machiraju
2023-11-30 21:07:52 -08:00
committed by GitHub
parent 4fcf0b25a1
commit 51eecef2bd
16 changed files with 336 additions and 15 deletions
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wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
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@@ -121,8 +121,8 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
std::vector<SplineParameterizer::PoseWithCurvature> points;
try {
points = SplinePointsFromSplines(
SplineHelper::QuinticSplinesFromWaypoints(newWaypoints));
points = SplinePointsFromSplines(SplineHelper::OptimizeCurvature(
SplineHelper::QuinticSplinesFromWaypoints(newWaypoints)));
} catch (SplineParameterizer::MalformedSplineException& e) {
ReportError(e.what());
return kDoNothingTrajectory;