Jian Wen

关于spline插值后计算曲率的问题

6

您好，不知道您有没有单独测试过，以路径长度s为自变量，分别对x和y进行三次样条插值然后再计算曲率，得到的曲率并不是光滑连续的   上面两幅图片，第一张是我先从一条五阶贝塞尔曲线上采点 (五阶贝塞尔曲线长度为1.68 m，我以0.01 m间隔进行采样)，然后再用三次样条分别对x和y插值得到的结果，第二张图片是对应的曲率计算结果。 我尝试以x为自变量y为因变量进行插值，得到的曲率结果如下  首尾的曲率看上去不是连续的，中间部分也有一些毛刺

Add the case in fem_pos_deviation_osqp_interface when the number of optimized path points is 3

1

The minimum number of optimized path points is 3 in fem_pos_deviation_osqp_interface. Currently, the QP modeling in the CalculateKernel function only works when the number of path points is greater than...

Fix memory leak problem of piecewise_jerk_problem.cc

@qingchen-bi

How to clear g2o optimizer after optimization to avoid memory leak

1

Hi, I have a following simple code, which is used to study the usage of g2o solver. This code works normally after compilation. However, when I use the tool of...