interpolator.py 文件源码

def __init__(self, ss, qs):
        # This class receives only normalized path position
        assert np.allclose(ss[-1], 1)
        self.cspl = CubicSpline(ss, qs)
        self.cspld = self.cspl.derivative()
        self.cspldd = self.cspld.derivative()
        if np.isscalar(qs[0]):
            self.dof = 1
        else:
            self.dof = qs[0].shape[0]