Quote:
Originally Posted by Jared
Would it also work if the second derivatives were equal to a value that does not have to be zero? It wouldn't be driving straight through the waypoint, but the rate of change of heading would be the same on both sides.
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I am not sure if it would work because we never tried it, but I think it could. Setting the second derivatives to zero made sense because it ensured that it would drive smoothly, and would be easier to code. The coefficients of the spline basically became functions of the distance and the headings, all of which somebody can see. Setting the second derivatives to nonzero values also influences the coefficients, but is also harder to visualize and tune.
Tl;dr h"(0) = 0 provides a simple working solution to our problem.