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TrajectoryWaypoints -> JointTargets
Interpolate target joint positions, velocities, and accelerations at the current control loop timestamp using cubic or quintic splines between sparse trajectory waypoints.
Problem it solves
Raw multi-joint trajectory waypoints are sparse in time, but motor actuators require smooth, continuous commands at a high frequency (e.g., 1 kHz).
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.