Adding a spline joint to the joint collection - #2784

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MegMll:topic/spline_joint

Commits on Jul 23, 2026

Joints - Add a first implementation of joint spline

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81fb500
Unittest - Add TU for spline joint

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6d10338
Bindings - add bindings for spline joint

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03cff56
Spatial - Weird fix to make spline joint work for now (to remove)

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acf9c52
Unittest - update joint unittests to include spline joints

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601c202
SplineJoint - apply pre-commit

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9227017
Spline - use the true cumulative form of the spline

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7fa9883
Spline - Add isEqual Method

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2a376bc
Spline - Add TU with finite difference

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ba8dafb
Unittest - fix tests for spline joint

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349758d
Spline joint - change if/else to be casadi compatible

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697a984
Joint Spline - Remove useless comments

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4f1b461
Joint Spline - Fix indexing

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7df1feb
Joint Spline - Eigen No Malloc checked and passed

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d557795
Spline joints - fix casadi joints tests

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76f9ef3
Joint Spline - Add a build method

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8b0a4db
Unittest - Fix joint spline's unittests

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1e0bbed
Model-graph - Add spline joint to model graph

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7b3210c
JointSpline - make some correction to the joint

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1f3c5ca
TU - apply new jointSpline constructor

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5a3bbd8
ModelGraph - use new JointSpline method

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62866a4
Serialization - Add attributes from spline model and data

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17da33e
Unittest - use std vector instead of se3

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c7766c7
JointSpline - Diverse Changes

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2474c2a
Casadi - Add a separated file for findSpan to be able to do specialization for casadi

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fe623c0
Bindings - modify joint spline binding

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0d44830
JointSpline - Remove findSpan

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c5bef24
Unittest - remove buildJoint function

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5570819
ModelGraph - finish adding jointSpline to model graph + unittest

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8f71dc3
cppadcg: Fix cppadcg cast test with spline joint
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5477879
multiprecision: Fix multiprecision cast test with Spline joint
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a2706dc
multiprecision: Add missing header
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06f8cfa
lint: Run linter
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aa227a3
JointSpline - Removed comments

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e5160f9
JointSpline - move bspline functions in public to be able to test it

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8f48978
Unittest - add more test for joint spline

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25053c8
Bindings - Add another constructor for joint spline

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93e0b9e
Unittest - put full knee trajectory

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7ba95a6
Unittest - fix getTrajectory function

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f6500f3
Bindings - add modelgraph bindings constant

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01758ec
JointSpline - Fix indexing

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b571c7b
JointSpline - Add a doc

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6b17353
JointSpline - Fix bias computation

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49164a9
Unittest - add a finite difference test for S and bias c for JointSpline

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5855b08
JointSpline - Add comments and complete isEqual function

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3779f4e
Unittest - Try to add tolerance to see if it fixes macos-intel problem

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d1afd72
Unittest - fix compilation error

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647676b
JointSpline - add assert for configuration to be between 0 and 1

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21f7094
Bindings - Add graph spline joints bindings

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49f7d44
Algo/Splines - remove comments

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119145e
Unittest - add find span test for q = 0

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d9cd11a
Changelog - update

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ea020af
JointSpline - remove SE3 and use Transformation_t

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3f688ea
Unittest - remove comments

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ba770e4
JointSpline - Use transformation_t and motion_t

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2cbb266
Examples - Add a small examples on what the spline joint can do

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6dbfa5b
Unittest - Specialize for joint spline

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5110376
Examples - add spline joint examples

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4c94147
Unittest - Fix joint generic test for joint spline

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bba1873
Examples - Fix some linting errors

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574a334
JointSpline - Disable assert

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78caac0
core: Apply small changes
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7fa6da1
Algo/splines - add doc

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93d513d
Unittest - Avoid code duplication for randomConfig vector generation

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6e56942
Unittest - more complex and complete tests

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83fa3f5
Unittest/cppad - use degree 3 spline joint

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6d64dda
unittest - change name of struct to be more generic

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89ccc56
unittest - avoid code duplication

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b08c065
unittest - avoid code duplication

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3521f46
Unittest - fix casadi/joints test

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807bd1a
Unittest - add forgotten helical unaligned joint

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d5a6c3d
Unittest - Fix casadi test for universal joints

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aef9a2b
Mode-graph - use new function for joint spline

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e9073a7
Linting

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e25fe62
unittest - fix new joint

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59f468d
JointSpline - Fix bias computation

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2c0c8c1
Unittest - Fix finite-difference test

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4daa8cf
unittest - use config vector of joints

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3b52146
unittest - remove useless lines

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ec96115
Unittest - Add a utils file to centralize init of joints with parameters

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8d3f757
Run pre-commit

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0865814
unittest/utils - Fix mimic init

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94ab562
Core - update spline to allow spans to be between min and max, instead of 0 and 1

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e069d70
core - move joint spline definition

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33dcdd5
core - update splines algorithms

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fd0b9ba
core - add spline joint

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3a6e54e
parser - add spline joint

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7fc4873
core - fix some errors and warnings (some errors due to rebase still remaining)

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ff6cced
unittest - use jointModelWithParameters

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caaa9b7
unittest - use std::vector

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6d59876
remove useless file

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b9336be
unittest - fix compilation warnings

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66fb5ec
unittest - add spline joint to serialization test

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e1ba833
unittest - update serialization test to use jointModelWithParameters

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72209ea
unittest - clean, remove comments

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a4edad8
fix cmake: @lucasJoseph

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ccf1933
fix: splines.hpp to sources.cmake

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2c0cf6b
core : factorize code calc functions

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4e1dea2
core : finish adding min/max for the knot vector + fix knot vector computation (@lpuch)

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662fd62
unittest : modify knot unittest to test min/max

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1ba06c9
core : add min/max for spline joint

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900749f
refactor: decoupling the knotvector scaling

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f3f0773
tests: joint-generic bounding q with joint limits

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6568415
spline: Apply new header convention
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5b1aadf
spline: Fix build
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94666c1
core - add a new struct JointSplineBuilder

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unittest - update tests to use new builder struct

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4fb8cf5
model-graph - update jointSpline

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055ff4e
bindings - update jointSpline bindings

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d2cedc4
graph: Explain why we can't reverse the joint
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9eeb5b4
core - move splines algos into internal and/or private

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a53580b
core - make test casadi compatible

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96a0e70
unittest - Fix degree

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03021bc
unittest - Make tset compatible with new internal api

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5eee4c9
unittest: Fix joint-init.hpp build
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50da261
unittest: Use joint-init.hpp in visitor.cpp
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95a7da8
unittest: Use joint-init.hpp in joint-motion-subspace.cpp
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033f98f
unittest: Use joint-init.hpp in all-joints.cpp
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2b9ffdb
unittest: Remove dead code
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91862d7
mpfr: Remove useless include
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9f47ca3
changelog: Set in Unreleased and add example link
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46383e2
casadi: Fix scalar casting
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f13ce81
casadi: Fix expression evaluation
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e99121a
graph: Add JointSplineBuilder
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7e6ecc5
joint: Remove moved methods
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48119c9
joint: Remove one warning
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dccd5eb
casadi: Fix build
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fc461a0
python: Fix binding build and add graph::JointSplineBuilder
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examples: Use coal and run when running ctest
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python: Add JointModelSplineBuilder binding
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lint: Apply clang-format
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joint: Remove warning
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90585c2
unittest: Use builder to build joint
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c5a9e7c
unittest: Fix cppad-joints build
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ee6aff9
unittest - rewrite most tests to use internal functions directly

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74045b9
core - write correct test for range inside basis function computation

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example: knee with spline joint.

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1d04d23
example: spline knee joint with better curves.

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example: spline knee joint make it minimal

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example: parabola in spline-joint.py

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0ac2e30
spline: Fix FindSpan and improve tests
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031e09e
test: Relax precision on finite-differences test
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6f5f1f5
test: fix some assert and remove warnings
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7e23049
spline: Remove more warnings
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67d1337
unittest: Use an open uniform spline by default to help numerical precision
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eadca27
unittest: Add a bound test to bsplineBasis
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2a44e69
python: Expose JointDataSpline specialized members
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c2fdc01
warning: Remove a bunch of clang warning
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ad9fa91
core - add Continuity check over knot vector

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de73179
unittest - add test for basis function continuity

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a975b4d
unittest - fix unittest for basis function derivatives (finite difference errors were amplified by small differences between knot vectors values)

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64a2969
examples - apply linting

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e727de6
spline: Add deBoor algorithm to evaluate the BSpline
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f152bbe
spline: Remove warnings
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eed08d3
spline: Implement deBoorCumBasisSparse
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spline: Rename deBoorBasis into deBoor
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8abff51
spline: Add bsplineBasis to compute all basis function with minimal computation
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1fd24cc
spline: Remove other deBoor like algorithm
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45c028e
spline: Add comments
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4f42559
spline: First working version with deBoorBasis
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ea7c347
spline: Add standalone function to compute cumulative bspline derivatives
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132b721
spline: Move bsplineBasis in unit tests and test cumulativeBasisDerivative
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a3cb088
spline: Fix build
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be553d0
spline: Add deBoorFullBasis function
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spline: Improve doc and comments
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b1748b4
spline: Add Full variant to support casadi
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8a94293
spline: Refactor code to implement spline transformation on minimal and full basis vector
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1a2b1e6
spline: Add computeSplineKinematicsFull
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spline: Fix changelog
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spline: Test computeSplineKinematicsFull.
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bab7deb
Spline: Setup SplineKinematics structure
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spline: Try to fix Windows build issue
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examples: Add guards to stop example if meshcat is not installed
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acbc13e
spline: Remove warnings
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aa9848f
spline: Improve assert
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3bbe7e1
spline: Rename deBoorFulBasis into deBoorBasisFull
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spline: Store deBoorBasis in a dense vector
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39da48f
spline: Enforce to evalute spline in valid range
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a90a403
python: Add attributes
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f582c73
spline: Remove useless macro
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5a35c9d
spline: Fix check_expression_if_real use
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56dd6a3
unittest: Use degree 3 spline
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a7c761e
changelog: List second example
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cdc0b86
unittest: Use joint-init.hpp in cppad/joints.cpp
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c8973cf
spline: Add spline constructor guards test
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Commits on Jul 23, 2026