Adding a spline joint to the joint collection#2784

Open

MegMll wants to merge 168 commits into

stack-of-tasks:develfrom

MegMll:topic/spline_joint

Commits on Jul 7, 2026

Joints - Add a first implementation of joint spline

MegMll
authored and
jorisv
committed
Unittest - Add TU for spline joint

MegMll
authored and
jorisv
committed
Bindings - add bindings for spline joint

MegMll
authored and
jorisv
committed
Spatial - Weird fix to make spline joint work for now (to remove)

MegMll
authored and
jorisv
committed
Unittest - update joint unittests to include spline joints

MegMll
authored and
jorisv
committed
SplineJoint - apply pre-commit

MegMll
authored and
jorisv
committed
Spline - use the true cumulative form of the spline

MegMll
authored and
jorisv
committed
Spline - Add isEqual Method

MegMll
authored and
jorisv
committed
Spline - Add TU with finite difference

MegMll
authored and
jorisv
committed
Unittest - fix tests for spline joint

MegMll
authored and
jorisv
committed
Spline joint - change if/else to be casadi compatible

MegMll
authored and
jorisv
committed
Joint Spline - Remove useless comments

MegMll
authored and
jorisv
committed
Joint Spline - Fix indexing

MegMll
authored and
jorisv
committed
Joint Spline - Eigen No Malloc checked and passed

MegMll
authored and
jorisv
committed
Spline joints - fix casadi joints tests

MegMll
authored and
jorisv
committed
Joint Spline - Add a build method

MegMll
authored and
jorisv
committed
Unittest - Fix joint spline's unittests

MegMll
authored and
jorisv
committed
Model-graph - Add spline joint to model graph

MegMll
authored and
jorisv
committed
JointSpline - make some correction to the joint

MegMll
authored and
jorisv
committed
TU - apply new jointSpline constructor

MegMll
authored and
jorisv
committed
ModelGraph - use new JointSpline method

MegMll
authored and
jorisv
committed
Serialization - Add attributes from spline model and data

MegMll
authored and
jorisv
committed
Unittest - use std vector instead of se3

MegMll
authored and
jorisv
committed
JointSpline - Diverse Changes

MegMll
authored and
jorisv
committed
Casadi - Add a separated file for findSpan to be able to do specialization for casadi

MegMll
authored and
jorisv
committed
Bindings - modify joint spline binding

MegMll
authored and
jorisv
committed
JointSpline - Remove findSpan

MegMll
authored and
jorisv
committed
Unittest - remove buildJoint function

MegMll
authored and
jorisv
committed
ModelGraph - finish adding jointSpline to model graph + unittest

MegMll
authored and
jorisv
committed
cppadcg: Fix cppadcg cast test with spline joint
jorisv
committed
multiprecision: Fix multiprecision cast test with Spline joint
jorisv
committed
multiprecision: Add missing header
jorisv
committed
lint: Run linter
jorisv
committed
JointSpline - Removed comments

MegMll
authored and
jorisv
committed
JointSpline - move bspline functions in public to be able to test it

MegMll
authored and
jorisv
committed
Unittest - add more test for joint spline

MegMll
authored and
jorisv
committed
Bindings - Add another constructor for joint spline

MegMll
authored and
jorisv
committed
Unittest - put full knee trajectory

MegMll
authored and
jorisv
committed
Unittest - fix getTrajectory function

MegMll
authored and
jorisv
committed
Bindings - add modelgraph bindings constant

MegMll
authored and
jorisv
committed
JointSpline - Fix indexing

MegMll
authored and
jorisv
committed
JointSpline - Add a doc

MegMll
authored and
jorisv
committed
JointSpline - Fix bias computation

MegMll
authored and
jorisv
committed
Unittest - add a finite difference test for S and bias c for JointSpline

MegMll
authored and
jorisv
committed
JointSpline - Add comments and complete isEqual function

MegMll
authored and
jorisv
committed
Unittest - Try to add tolerance to see if it fixes macos-intel problem

MegMll
authored and
jorisv
committed
Unittest - fix compilation error

MegMll
authored and
jorisv
committed
JointSpline - add assert for configuration to be between 0 and 1

MegMll
authored and
jorisv
committed
Bindings - Add graph spline joints bindings

MegMll
authored and
jorisv
committed
Algo/Splines - remove comments

MegMll
authored and
jorisv
committed
Unittest - add find span test for q = 0

MegMll
authored and
jorisv
committed
Changelog - update

MegMll
authored and
jorisv
committed
JointSpline - remove SE3 and use Transformation_t

MegMll
authored and
jorisv
committed
Unittest - remove comments

MegMll
authored and
jorisv
committed
JointSpline - Use transformation_t and motion_t

MegMll
authored and
jorisv
committed
Examples - Add a small examples on what the spline joint can do

MegMll
authored and
jorisv
committed
Unittest - Specialize for joint spline

MegMll
authored and
jorisv
committed
Examples - add spline joint examples

MegMll
authored and
jorisv
committed
Unittest - Fix joint generic test for joint spline

MegMll
authored and
jorisv
committed
Examples - Fix some linting errors

MegMll
authored and
jorisv
committed
JointSpline - Disable assert

MegMll
authored and
jorisv
committed
core: Apply small changes
jorisv
committed
Algo/splines - add doc

MegMll
authored and
jorisv
committed
Unittest - Avoid code duplication for randomConfig vector generation

MegMll
authored and
jorisv
committed
Unittest - more complex and complete tests

MegMll
authored and
jorisv
committed
Unittest/cppad - use degree 3 spline joint

MegMll
authored and
jorisv
committed
unittest - change name of struct to be more generic

MegMll
authored and
jorisv
committed
unittest - avoid code duplication

MegMll
authored and
jorisv
committed
unittest - avoid code duplication

MegMll
authored and
jorisv
committed
Unittest - fix casadi/joints test

MegMll
authored and
jorisv
committed
Unittest - add forgotten helical unaligned joint

MegMll
authored and
jorisv
committed
Unittest - Fix casadi test for universal joints

MegMll
authored and
jorisv
committed
Mode-graph - use new function for joint spline

MegMll
authored and
jorisv
committed
Linting

MegMll
authored and
jorisv
committed
unittest - fix new joint

MegMll
authored and
jorisv
committed
JointSpline - Fix bias computation

MegMll
authored and
jorisv
committed
Unittest - Fix finite-difference test

MegMll
authored and
jorisv
committed
unittest - use config vector of joints

MegMll
authored and
jorisv
committed
unittest - remove useless lines

MegMll
authored and
jorisv
committed
Unittest - Add a utils file to centralize init of joints with parameters

MegMll
authored and
jorisv
committed
Run pre-commit

MegMll
authored and
jorisv
committed
unittest/utils - Fix mimic init

MegMll
authored and
jorisv
committed
Core - update spline to allow spans to be between min and max, instead of 0 and 1

MegMll
authored and
jorisv
committed
core - move joint spline definition

MegMll
authored and
jorisv
committed
core - update splines algorithms

MegMll
authored and
jorisv
committed
core - add spline joint

MegMll
authored and
jorisv
committed
parser - add spline joint

MegMll
authored and
jorisv
committed
core - fix some errors and warnings (some errors due to rebase still remaining)

MegMll
authored and
jorisv
committed
unittest - use jointModelWithParameters

MegMll
authored and
jorisv
committed
unittest - use std::vector

MegMll
authored and
jorisv
committed
remove useless file

MegMll
authored and
jorisv
committed
unittest - fix compilation warnings

MegMll
authored and
jorisv
committed
unittest - add spline joint to serialization test

MegMll
authored and
jorisv
committed
unittest - update serialization test to use jointModelWithParameters

MegMll
authored and
jorisv
committed
unittest - clean, remove comments

MegMll
authored and
jorisv
committed
fix cmake: @lucasJoseph

Ipuch
authored and
jorisv
committed
fix: splines.hpp to sources.cmake

Ipuch
authored and
jorisv
committed
core : factorize code calc functions

MegMll
authored and
jorisv
committed
core : finish adding min/max for the knot vector + fix knot vector computation (@lpuch)

MegMll
authored and
jorisv
committed
unittest : modify knot unittest to test min/max

MegMll
authored and
jorisv
committed
core : add min/max for spline joint

MegMll
authored and
jorisv
committed
refactor: decoupling the knotvector scaling

Ipuch
authored and
jorisv
committed
tests: joint-generic bounding q with joint limits

Ipuch
authored and
jorisv
committed
spline: Apply new header convention
jorisv
committed
spline: Fix build
jorisv
committed
core - add a new struct JointSplineBuilder

MegMll
authored and
jorisv
committed
unittest - update tests to use new builder struct

MegMll
authored and
jorisv
committed
model-graph - update jointSpline

MegMll
authored and
jorisv
committed
bindings - update jointSpline bindings

MegMll
authored and
jorisv
committed
graph: Explain why we can't reverse the joint
jorisv
committed
core - move splines algos into internal and/or private

MegMll
authored and
jorisv
committed
core - make test casadi compatible

MegMll
authored and
jorisv
committed
unittest - Fix degree

MegMll
authored and
jorisv
committed
unittest - Make tset compatible with new internal api

MegMll
authored and
jorisv
committed
unittest: Fix joint-init.hpp build
jorisv
committed
unittest: Use joint-init.hpp in visitor.cpp
jorisv
committed
unittest: Use joint-init.hpp in joint-motion-subspace.cpp
jorisv
committed
unittest: Use joint-init.hpp in all-joints.cpp
jorisv
committed
unittest: Remove dead code
jorisv
committed
mpfr: Remove useless include
jorisv
committed
changelog: Set in Unreleased and add example link
jorisv
committed
casadi: Fix scalar casting
jorisv
committed
casadi: Fix expression evaluation
jorisv
committed
graph: Add JointSplineBuilder
jorisv
committed
joint: Remove moved methods
jorisv
committed
joint: Remove one warning
jorisv
committed
casadi: Fix build
jorisv
committed
python: Fix binding build and add graph::JointSplineBuilder
jorisv
committed
examples: Use coal and run when running ctest
jorisv
committed
python: Add JointModelSplineBuilder binding
jorisv
committed
lint: Apply clang-format
jorisv
committed
joint: Remove warning
jorisv
committed
unittest: Use builder to build joint
jorisv
committed
unittest: Fix cppad-joints build
jorisv
committed
unittest - rewrite most tests to use internal functions directly

MegMll
authored and
jorisv
committed
core - write correct test for range inside basis function computation

MegMll
authored and
jorisv
committed
example: knee with spline joint.

Ipuch
authored and
jorisv
committed
example: spline knee joint with better curves.

Ipuch
authored and
jorisv
committed
example: spline knee joint make it minimal

Ipuch
authored and
jorisv
committed
example: parabola in spline-joint.py

Ipuch
authored and
jorisv
committed
spline: Fix FindSpan and improve tests
jorisv
committed
test: Relax precision on finite-differences test
jorisv
committed
test: fix some assert and remove warnings
jorisv
committed
spline: Remove more warnings
jorisv
committed
unittest: Use an open uniform spline by default to help numerical precision
jorisv
committed
unittest: Add a bound test to bsplineBasis
jorisv
committed
python: Expose JointDataSpline specialized members
jorisv
committed
warning: Remove a bunch of clang warning
jorisv
committed
core - add Continuity check over knot vector

MegMll
authored and
jorisv
committed
unittest - add test for basis function continuity

MegMll
authored and
jorisv
committed
unittest - fix unittest for basis function derivatives (finite difference errors were amplified by small differences between knot vectors values)

MegMll
authored and
jorisv
committed
examples - apply linting

MegMll
authored and
jorisv
committed

Uh oh!

Commits

Commits on Jul 7, 2026