Unverified Commit 3092691d authored by stonneau's avatar stonneau Committed by GitHub
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Update README.md

parent a7e38800
......@@ -22,35 +22,6 @@ Several type of formulation are provided:
The library is template-based, thus generic: the curves can be of any dimension, and can be implemented in double or float and can work with kind variables like Vector, Transform, Matrix, ...
----------
Example of use for and end-effector trajectory
-------------
The library comes with an helper class to automatically generate end-effector trajectories.
For instance, to create a 2 second long trajectory from the point (0,0,0) to (1,1,0), with a waypoint
at (0.5,0.5,0.5), one can use the following code:
```cpp
typedef std::pair<double, Eigen::Vector3d> Waypoint;
typedef std::vector<Waypoint> T_Waypoint;
// loading helper class namespace
using namespace spline::helpers;
// Create waypoints
waypoints.push_back(std::make_pair(0., Eigen::Vector3d(0,0,0)));
waypoints.push_back(std::make_pair(1., Eigen::Vector3d(0.5,0.5,0.5)));
waypoints.push_back(std::make_pair(2., Eigen::Vector3d(1,1,0)));
exact_cubic_t* eff_traj = effector_spline(waypoints.begin(),waypoints.end());
// evaluate spline
(*eff_traj)(0.); // (0,0,0)
(*eff_traj)(2.); // (1,1,0)
```
If rotation of the effector must be considered, the code is almost the same:
The library is template-based, thus generic: the curves can be of any dimension, and can be implemented in double, float ...
Installation
-------------
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