生成行驶路径最经典方法之一就是是Sampling-Based Planner算法;基于采样的规划器可以规划出可行的轨迹,但这种轨迹往往是折线,为了保证车辆行驶过程中给乘客良好舒适的体验,需要对规划的轨迹进行平滑。Cubic Spline就是一种常用的插值平滑算法,通过一系列的控制点得到一条连续平滑的轨迹。 1、Cubic Spline曲线定义 假定有以...
cubic spline planner Author: Atsushi Sakai """ import math import numpy as np import bisect class Spline: """ Cubic Spline class """ def __init__(self, x, y): self.b, self.c, self.d, self.w = [], [], [], [] self.x = x self.y = y self.nx = ...
The trajectory planner is based on cubic B-splines. Howe... L Biagiotti,C Melchiorri - IEEE/RSJ International Conference on Intelligent Robots & Systems 被引量: 22发表: 2013年 Evaluation of Two New Smoothing Methods in Equating: The Cubic B-Spline Presmoothing Method and the Direct Pre...
because the IF (as long as you don't have arrays being addressed) will act as an OPERATOR and in the above case if A1<=1 it will NOT perform the VeryComplicatedFunction. The IFS on the other hand WILL always perform the VeryComplicatedFunction (i.e. calculate all the argument...