update Bspline

sldai · Sep 3, 2021 · cf6253e · cf6253e
1 parent ce72bf8
commit cf6253e
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Showing 3 changed files with 28 additions and 27 deletions.
diff --git a/Planning/Curve/B_spline.ipynb b/Planning/Curve/B_spline.ipynb
diff --git a/Planning/Curve/B_spline.py b/Planning/Curve/B_spline.py
@@ -140,9 +140,10 @@ def splineInterp():
     spl = BSpline(knots, ctrl_pts)
     interp_result = np.array([spl.DeBoor(t)
                               for t in np.linspace(0, K-1, num=100)]).T
-
-    plt.plot(points[:, 0], points[:, 1], 'ok',
-             label='Passing points', markerfacecolor='red')
+    plt.plot(points[:, 0], points[:, 1], 'sk',
+             label='Passing points', markerfacecolor='darkorange')
+    plt.plot(ctrl_pts[:, 0], ctrl_pts[:, 1], '--ok',
+             label='Control polygon', markerfacecolor='red')
     plt.plot(interp_result[0], interp_result[1],
              linewidth=2, c="cyan", label="Interpolated curve")
     plt.legend()

diff --git a/Planning/figure/BSplineInterp.png b/Planning/figure/BSplineInterp.png