OpenServo.com

[lba_821103]

why choose the cubic spline Interpolation method to creat plenty of the sub goal point?
Please see the process as follow:

v0 *= curve_duration_float;
v1 *= curve_duration_float;

// Set the curve parameters.
curve_p0 = p0;
curve_p1 = p1;
curve_v0 = v0;
curve_v1 = v1;

// Set the cubic coefficients by multiplying the matrix form of
// the Hermite curve by the curve parameters p0, p1, v0 and v1.
//
// | a | | 2 -2 1 1 | | p0 |
// | b | | -3 3 -2 -1 | | p1 |
/ | c | = | 0 0 1 0 | . | (t1 - t0) * v0 |
// | d | | 1 0 0 0 | | (t1 - t0) * v1 |
//
// a = 2p0 - 2p1 + v0 + v1
// b = -3p0 + 3p1 -2v0 - v1
// c = v0
// d = p0
//
curve_a = (2.0 * p0) - (2.0 * p1) + v0 + v1;
curve_b = -(3.0 * p0) + (3.0 * p1) - (2.0 * v0) - v1;
curve_c = v0;
curve_d = p0;
s = (curve_a * t3) + (curve_b * t2) + (curve_c * t1) + curve_d
v=(3.0 * curve_a * t2) + (2.0 * curve_b * t1) + curve_c
why we set the cubic coefficients by multiplying the matrix form of
the Hermite curve ?
Do it create the curve need four point ,but it only have two point?
what advantage we use the method to control our servo motor?

[linuxguy]

[ginge]

Thanks Linuxguy,

lba_821103, please refer to my response here:

http://www.openservo.com/Forums/viewtopic.php?p=3465

B
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