Commit a06831f8 authored by Matteo De Carlo's avatar Matteo De Carlo

added extensive pseudocode for spline controller update cache

parent dc65f7f2
Pipeline #125 passed with stage
in 1 minute and 24 seconds
......@@ -636,15 +636,25 @@ This appendix is a collection of the pseudocode for the main components used in
\algstore{alg:SplineController}
\end{algorithmic}
\end{algorithm}
\begin{algorithm}[H]
\begin{algorithmic}[1]
\algrestore{alg:SplineController}
\Function{UpdateCache}{$policy, interpolation\_cache$}
\State Cubic Interpolation from $policy$ to $interpolation\_cache$
\State // Cubic Interpolation from $policy$ to $interpolation\_cache$
\State $interpolator \gets $\Call{new\_interpolator}{$policy$}
\State $step\_size \gets cycle\_length / $\Call{size}{$interpolation\_cache$}
\For{$point, i \gets interpolator\_cache$}
\State $x \gets i \times step\_size$
\State $point \gets interpolator$\Call{}{$x$}
\EndFor
\EndFunction
\algstore{alg:SplineController}
\end{algorithmic}
\end{algorithm}
\begin{algorithm}[H]
\begin{algorithmic}[1]
\algrestore{alg:SplineController}
......
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