Interpolation #34
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Interpolation #34
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Modified cartesian_impedance_controller_ros.h. Added 2 parameters for position and orientation
Modified cartesian_impedance_controller_ros.cpp. Implementation of linear Interpolation and Slerp algorithm for orientation.
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Implementation of linear interpolation in combination with the slerp algorithm for orientation. For this two vectors
traj_positions_andtraj_orientations_were added tocartesian_impedance_controller_ros.h. The according filecartesian_impedance_controller_ros.cppwas modified, specifically the functiontrajUpdate().