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feat(interpolation): add option to enable akima spline for xy #2802
feat(interpolation): add option to enable akima spline for xy #2802
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Signed-off-by: Takayuki Murooka <[email protected]>
@purewater0901 Could you review the PR. |
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LGTM
Codecov ReportBase: 11.63% // Head: 11.71% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2802 +/- ##
==========================================
+ Coverage 11.63% 11.71% +0.08%
==========================================
Files 1317 1317
Lines 91839 91969 +130
Branches 24382 24490 +108
==========================================
+ Hits 10681 10778 +97
- Misses 70007 70008 +1
- Partials 11151 11183 +32
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…refoundation#2802) Signed-off-by: Takayuki Murooka <[email protected]>
…refoundation#2802) Signed-off-by: Takayuki Murooka <[email protected]>
…refoundation#2802) Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Takayuki Murooka [email protected]
Description
No behavior change with this PR.
I replaced the option of use_lerp_for_xy with use_akima_spline_for_xy, which is false by default.
I confirmed that use_lerp_for_xy is not used in any planning package.
background
Spline interpolation for 2d position sometimes generates unexpected wave as follows.
(If use_akima_spline_for_xy is true) With akima spline, this wave can be removed.
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