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Pull request overview
Updates SimpleTimeInterpolator to better handle scenarios where the interpolator needs to advance across multiple keypoints within a single cycle, and relaxes the chase-point “freeze” threshold to reduce freezing behavior.
Changes:
- Increase default
maximumDistanceFromChasePointInMetersfrom0.3to3. - Make
InterpolationResultastaticnested class and simplify empty-list checks withisEmpty(). - Replace single-step keypoint advancement with a loop that can advance across multiple keypoints in one call.
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src/main/java/xbot/common/trajectory/SimpleTimeInterpolator.java
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aschokking
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Mar 28, 2026
src/main/java/xbot/common/trajectory/SimpleTimeInterpolator.java
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Why are we doing this?
Not too relevant for this year, but incrementing by one keypoint at a time can cause breakage when there is an abundance of keypoints over a short period of time. Additionally, the maximum distance from chase points was changed to 3 so that we won't have to deal with any freezing logic in the interpolator for now.
Whats changing?
Questions/notes for reviewers
How this was tested