Adding the Interplolation of the Orientation #51
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- change of the orientation of the the interpolation
- The same convention as for linear point interpolation was implemented for the interpolation of the orientations
- Implementation of the different interpolation paths
-Demonstration of the interpolation class
- new update interpolation demo
- new implementation of the interpolation demonstration - point are converted into euler before the orientations are interpolated
Adjustments Interpolation Class: - Linear-, circular-, spline interpolation adapted to run interpolated orientations interpolation_dem: - demonstration of all the possible interpolations
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #51 +/- ##
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- Coverage 86.66% 85.27% -1.39%
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Files 15 15
Lines 930 951 +21
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+ Hits 806 811 +5
- Misses 124 140 +16
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| """ | ||
| start_orientation = p.getEulerFromQuaternion(start_orientation) | ||
| end_orientation = p.getEulerFromQuaternion(end_orientation) | ||
| euler_orientations = np.linspace(start_orientation, |
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What happens if the Euler angles cross over from -2pi to 0. It should be checked that this behaves as expected
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@liquidcronos @MaHajo in the new push of my code the spline interpolation was reset to the default code. There are issues that have been encountered using this method. For verification you can check the open issue: #50
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| final_path = ToolPath(positions=positions) | ||
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| if start_orientation is not None and end_orientation is not None: |
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This is unexpected behavior. If the positions are interpolated as splines so should the orientations.
This requires splines that can deal with the jump from 0 to -2pi!
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@liquidcronos @MaHajo in the new push of my code the spline interpolation was reset to the default code. There are issues that have been encountered using this method. For verification you can check the open issue: #50
- The spline Interopolation was reset to the default method - Interpolating through orientations works by converting from quaternion to euler and back
Description
In this pull request the interpolation of the orientation was added to the interpolation class. If the user adds a start and end orientation to the interpolation command, the orientation will be interpolated in the output tool path. Additionally a interpolation demonstration class was created
Motivation and Context
https://github.com//issues/47How has this been tested?
Screenshots (if appropriate):
Types of changes
Checklist: