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Commit 6331d093 authored by Sergi Hernandez's avatar Sergi Hernandez
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When splitting the input path, the forward or backward direction of each segment is caomputed. 

The velocity dead zone is applied when generating the velocity samples to check.
The past cost uses all the path points, not only the last one.
Version using splines operational in simulation.
parent b61d0bc3
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1 merge request!7Cleaned up the code:
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