RobOptim trajectory provides parametrized curve which parameters can later be optimized.
First, let's try to create a cubic B-Spline using RobOptim Trajectory.
The spline should be defined from t = 0 to t = 10. Parameters can
be chosen randomly.
Display it using the visualization tools.
Once this is done, create a free time trajectory from this trajectory. Free time trajectory allows to change the time parametrization of a curve.
Display the following trajectory values:
- original spline,
t = 5 - free time trajectory,
scale = 1,t = 5 - free time trajectory,
scale = 2,t = 5
RobOptim Trajectory also provides points moving with the time parametrization. They are called "stable time point". Display the following information:
- original spline
stp = .5 - free time trajectory
scale = 2,stp = .5
In the end, running 004-bspline | gnuplot shoud give you:
Note: the trajectory will change depending on your initial parameters.