change default parametrized trajectory to clamped spline
@@ -65,7 +65,7 @@ class ParameterizationAlgorithm(object):
"""
raise NotImplementedError
- def compute_trajectory(self, sd_start=0, sd_end=0, return_profile=False, bc_type='not-a-knot', return_data=False):
+ def compute_trajectory(self, sd_start=0, sd_end=0, return_profile=False, bc_type=None, return_data=False):
"""Compute the resulting joint trajectory and auxilliary trajectory.
If parameterization fails, return a tuple of None(s).
@@ -112,6 +112,12 @@ class ParameterizationAlgorithm(object):
else:
return None, None
+ if bc_type is None:
+ if sd_start == 0 and sd_end == 0:
+ bc_type = "clamped"
+ else:
+ bc_type = "not-a-knot"
+
# Gridpoint time instances
t_grid = np.zeros(self._N + 1)
skip_ent = []
