Reference Trajectory Parametrization about mpcc

[alexliniger]

In this implementation, the spline is normalized using the vandermonde matrix of the inverse distance between two points, see the code in splines/normalizedSplineInterp.m
However, I don't have any reference for this approach, and to be honest, it is also not the best way to do it. It works fine if the first guess, the piecewise affine arc length, is already a good approximation and if the points are roughly spaced equally. But there exists a large body of work speaking about the generation of arc-length parametrized spline paths.
Hope this helps a bit,
Alex

[PranjalBiswas]

I see, from my current understanding arc-length parametrization is not very straight forward, but I will have a look at it. Thanks a lot for the help.