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  • Sergi Hernandez's avatar
    5bff140b
    Added some functions: · 5bff140b
    Sergi Hernandez authored 
    * to get the pose at a given distance in the link.
* to get the curvature at a given distance in the link.
The length is no longer used to generate the spline. It is internally computed.
The curvature is provided when updating the start or end positions.
    5bff140b
    History
    Added some functions:
    Sergi Hernandez authored 
    * to get the pose at a given distance in the link.
* to get the curvature at a given distance in the link.
The length is no longer used to generate the spline. It is internally computed.
The curvature is provided when updating the start or end positions.