control.blending¶

Smooth element swaps: one set of virtual elements replaces another with a quintic blend.

The old torque fades out while the new one fades in over duration [s],

u = (1 - w) u_old + w u_new, w = 10 s^3 - 15 s^4 + 6 s^5, s = t / duration,

so the torque and its first two time derivatives stay continuous. A planner uses the same blend_weight, so it plans what the controller executes.

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