{"action":"created","issue":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/954","repository_url":"https://api.github.com/repos/fkanehiro/hrpsys-base","labels_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/954/labels{/name}","comments_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/954/comments","events_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/954/events","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/954","id":134497068,"number":954,"title":"adds a function to interpolate reference angles","user":{"login":"fkanehiro","id":845257,"avatar_url":"https://avatars.githubusercontent.com/u/845257?v=3","gravatar_id":"","url":"https://api.github.com/users/fkanehiro","html_url":"https://github.com/fkanehiro","followers_url":"https://api.github.com/users/fkanehiro/followers","following_url":"https://api.github.com/users/fkanehiro/following{/other_user}","gists_url":"https://api.github.com/users/fkanehiro/gists{/gist_id}","starred_url":"https://api.github.com/users/fkanehiro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fkanehiro/subscriptions","organizations_url":"https://api.github.com/users/fkanehiro/orgs","repos_url":"https://api.github.com/users/fkanehiro/repos","events_url":"https://api.github.com/users/fkanehiro/events{/privacy}","received_events_url":"https://api.github.com/users/fkanehiro/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-02-18T06:56:13Z","updated_at":"2016-02-18T07:04:42Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/954","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/954","diff_url":"https://github.com/fkanehiro/hrpsys-base/pull/954.diff","patch_url":"https://github.com/fkanehiro/hrpsys-base/pull/954.patch"},"body":""},"comment":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/comments/185570770","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/954#issuecomment-185570770","issue_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/954","id":185570770,"user":{"login":"haudren","id":4352562,"avatar_url":"https://avatars.githubusercontent.com/u/4352562?v=3","gravatar_id":"","url":"https://api.github.com/users/haudren","html_url":"https://github.com/haudren","followers_url":"https://api.github.com/users/haudren/followers","following_url":"https://api.github.com/users/haudren/following{/other_user}","gists_url":"https://api.github.com/users/haudren/gists{/gist_id}","starred_url":"https://api.github.com/users/haudren/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/haudren/subscriptions","organizations_url":"https://api.github.com/users/haudren/orgs","repos_url":"https://api.github.com/users/haudren/repos","events_url":"https://api.github.com/users/haudren/events{/privacy}","received_events_url":"https://api.github.com/users/haudren/received_events","type":"User","site_admin":false},"created_at":"2016-02-18T07:04:42Z","updated_at":"2016-02-18T07:04:42Z","body":"I am not sure I understand the purpose of this: you want to interpolate the reference angles between steps. What is the purpose of this ? Because I think that PDController should remain very simple and mimic at best the robot's behaviour.\r\n\r\nShouldn't interpolation be done on the controller side (or maybe using SequencePlayer) ?\r\n\r\nHervé"}}