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Enable KTOpt to warmstart with a RobotTrajectory #62

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sjahr opened this issue Nov 18, 2024 · 0 comments

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sjahr commented Nov 18, 2024

As a user I want to compute an initial guess with RRTC and use that as initial solution for KTOpt.

Construct a BSpline from a discrete path
Warm start KTOpt either with res.trajectory (solution from previous planner) or if that one is empty keep the currently implemented initial guess

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