Hi I'm currently trying to get some deterministic movements out of my LBR..
I've implemented a method to build splines of variable length, which works ok:
public Spline compileSpline(){
SplineMotionCP<?>[] spMotionsx= new SplineMotionCP<?>[totalframes];
for (int index=0;index<totalframes;index++)
{
spMotionsx[index]=spl(frArray[index]).setCartVelocity(this.cartvel)
.setCartJerk(1)
.setCartAcceleration(2)
;
}
return new Spline(spMotionsx);
}//compile
I'd like to prepare a similar method to create MotionBatches from arrays of frames but I am currently unable to.
Can anyone help?