Allow higher order spline derivatives. #176
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bokorn-bdaii
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Nov 20, 2025
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Looks good. Can you add the derivative computation to the unit tests and add a docstring to the derivative function.
| linear_vel = self.spline_xyz.derivative()(t) | ||
| angular_vel = self.spline_so3( | ||
| t, 1 | ||
| def derivative(self, t: float, order: int = 1) -> Twist3: |
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Add some warning that this only works for order = [1,2]. Current system throws a value error for order != [0,1,2] but will fail on order 0 with a "ValueError: bad value to Twist constructor" error. We should check and throw errors for order != [1,2].
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Thanks for testing that
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Calculate higher order spline derivatives for the InterpSplineSE3 class.