Hi Automata,
andrew2085 was very helpfull. It was hard to get his code to work properly.
We have a robust clothoid 2-dimensional library.
For now it lack's the 3-dimensional clothoid implementation.
github.com/ebertolazzi/Clothoids/issues/45
I am unable to create the 3d clothoid from his comments.
A clothoid needs a iteration ~20 to find optimal fit. This is also the case at a runtime interpolation when u
use the clothoid library in a standard way.
The new approach is time optimal. By this i mean the "arc-strip" method for curves of any type.
The new planner's infrastructure makes it easy to add new trajectory smooth algo's. So almost anyone can
add a algo to it. Sinds it also has a algo template.
Using a clothoid is a very good approach, i agree 100% with that.
Downside is that the real deviation is hard to find. Then 2 attached clothoids could do exact deviation.
When optimizing the path at load time, the clothoid is constructed (~20 clothoid iterations are done) and clothoid is
saved as arc_strip to be interpolated as fast as can be later on.
Soon i wil test a clothoid this way.
Julian made a test environment to test multiple cnc files in a loop. The velocity's are extreme.
We had scurve hang's in certain cases early'er this week. After figuring out, we had some isnan values coming up so now and then.
Isnan = is not a number. This can happen when dividing to zero for example.
We decided that the planner has to first pass test bench, before going any further writing smooth algo's on top.
Let's run the test environement for a few more hours. image missing /media/kunena/emoticons/wink.png
