[trajectories] Add PiecewiseConstantCuravtureTrajectory #22214
Conversation
Adding a trajectory type modeling concatenation of linear segments and circular arcs within a plane, to be used in curvilinear joints (RobotLocomotion#22196).
There was a problem hiding this comment.
Good day, @mshalm . I’m assigning +@amcastro-tri as the most relevant team member to assist with this pull request. If you already had a different team member in mind, please let us know. To @amcastro-tri , feel free to delegate in case there is someone else more suitable.
Reviewable status: LGTM missing from assignee amcastro-tri, needs platform reviewer assigned, needs at least two assigned reviewers, missing label for release notes (waiting on @mshalm)
Happy for Alejandro to review! @sherm1 and @joemasterjohn-TRI may also be good reviewers. |
rpoyner-tri
added
the
release notes: feature
There was a problem hiding this comment.
+(release notes: feature)
Reviewable status: LGTM missing from assignee amcastro-tri, needs platform reviewer assigned, needs at least two assigned reviewers
|
@amcastro-tri, Matt asked me about review progress on this PR. Rico assigned you -- feel free to reassign if you don't have time. |
Adding a trajectory type modeling concatenation of linear segments and circular arcs within a plane, to be used in curvilinear joints (#22196).
The trajectory is intended to eventually model the transform between inboard and outboard frames$X_{FM}$ for the curvilinear joint, and it's design was driven by that intended use case.
This change is