Motion Planning and Control for FRC - FIRST Championship Conference Session

[artK]

Originally Posted by chsahit

What does the spline paramater represent? When discussing 2d hermite cubic spline fits functions are created in terms of "s". Is this time?

Thank you and great presentation!

Spline parameters can be whatever you want: time, % of time, % of total arclength. When 254 implemented it in 2014, I believe we used % of total arclength. As long as you're consistent with your parameter usage, the code should be mostly the same.