gif of interpolation run

[joris997]

It works

[joris997]

Hopper slider coordinate height. 5 = 5 interpolation points, 10 = 10. Refinement needs to be quite adaptive if minimum and maximum of a coordinate are not specified (min and max are -10 and 10 for hopper, unrealistic)

timing:

	PBP	FBP
avg-time [ms]	210	213
steps attempted	552	536
steps taken	401	374

[joris997]

arm26 accuracy test.
blue = pointbasedpath
red = functionbasedpath 5 interpolation points
yellow = functionbasedpath 10 interpolation points

rms values:

timing:

	PBP	FBP	FBP 2
avg-time [ms]	727	840	879
steps attempted	739	797	797
steps taken	519	557	557

FBP2 uses the interpStruct method which was supposedly faster (but is not)

[joris997]

Error with regards to Rajagopal model

Hopper & Arm26: Thelen
Rajagopal: MillardEq