From 4cd538e24c2ef39de0f7156936b45db5400fd925 Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Mon, 17 Oct 2022 08:26:25 +0200 Subject: [PATCH] Solved a bug when generating a constant velocity spline: some of the parameters where not computed properly. --- src/vel_spline.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/vel_spline.cpp b/src/vel_spline.cpp index 1f91e56..76d833c 100644 --- a/src/vel_spline.cpp +++ b/src/vel_spline.cpp @@ -181,7 +181,10 @@ bool CVelSpline::generate_max_length(double &max_len) if(fabs(this->start_acc-this->end_acc)<0.001) { if(fabs(this->end_vel-this->start_vel)<0.001) + { this->generate_constant_vel(this->start_vel,max_len); + return true; + } else { this->time=(2.0*max_len)/(this->end_vel+this->start_vel); -- GitLab