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最小时间b样条曲线轨迹优化问题 #70

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lijiaming5550 opened this issue Jan 11, 2024 · 0 comments
Open

最小时间b样条曲线轨迹优化问题 #70

lijiaming5550 opened this issue Jan 11, 2024 · 0 comments

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@lijiaming5550
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2024-01-11 16-31-03 的屏幕截图
疑问-----》b样条轨迹生成时，最后一个公式fbs的最后一项如何理解：三次b样条曲线的终点位置由最后三个控制点决定，按照上图公式Nb表示b样条最后的控制点，与前三个控制点共同生成三次b样条曲线，该样条段位于最后四个控制点形成的凸包内，如何保证b样条末端点一定在下一个视点呢？
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