Correct interpolation to use both points (#794)

mikelikesrobots · web-flow · commit 7c2950202360 · 2025-04-30T21:55:52.000+02:00
diff --git a/example_7/controller/r6bot_controller.cpp b/example_7/controller/r6bot_controller.cpp
@@ -125,12 +125,12 @@ void interpolate_point(
 {
   for (size_t i = 0; i < point_1.positions.size(); i++)
   {
-    point_interp.positions[i] = delta * point_2.positions[i] + (1.0 - delta) * point_2.positions[i];
+    point_interp.positions[i] = delta * point_2.positions[i] + (1.0 - delta) * point_1.positions[i];
   }
   for (size_t i = 0; i < point_1.positions.size(); i++)
   {
     point_interp.velocities[i] =
-      delta * point_2.velocities[i] + (1.0 - delta) * point_2.velocities[i];
+      delta * point_2.velocities[i] + (1.0 - delta) * point_1.velocities[i];
   }
 }
 

Original file line number	Diff line number	Diff line change
`@@ -125,12 +125,12 @@ void interpolate_point(`
`125`	`125`	`{`
`126`	`126`	`for (size_t i = 0; i < point_1.positions.size(); i++)`
`127`	`127`	`{`
`128`		`- point_interp.positions[i] = delta * point_2.positions[i] + (1.0 - delta) * point_2.positions[i];`
	`128`	`+ point_interp.positions[i] = delta * point_2.positions[i] + (1.0 - delta) * point_1.positions[i];`
`129`	`129`	`}`
`130`	`130`	`for (size_t i = 0; i < point_1.positions.size(); i++)`
`131`	`131`	`{`
`132`	`132`	`point_interp.velocities[i] =`
`133`		`- delta * point_2.velocities[i] + (1.0 - delta) * point_2.velocities[i];`
	`133`	`+ delta * point_2.velocities[i] + (1.0 - delta) * point_1.velocities[i];`
`134`	`134`	`}`
`135`	`135`	`}`
`136`	`136`