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Cubic Interpolator

motion has a cubic interpolator where points off the trajectory planner are interpolated along a cubic spline.

The interpolator code is here:


There's a reference in the code to a unpublished paper by Curtis Wilson, Delta Tau systems which cannot easily be found. Curtis was so nice to mail me this paper and concise version thereof.

Due to wiki upload size limits, the PDF scans are stored here:



- Michael

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Last edited January 2, 2013 11:22 am by MichaelHaberler (diff)
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