If the user sets the minimum duration in regions to zero, this occasionally causes strange bugs in the construction of a PiecewiseTrajectory, when success would be expected. Here's a simple reproduction:
Looks like the issue is GCS produces a trajectory whose start and end times are equal (since it can travel at "infinite velocity"). What is the desired behavior here?
Should we error if the user creates a region of order>0 with h_min=0?
Should we catch this error and return a more intuitive error message to the user?
Should we retime the trajectory to have a small duration, so the error doesn't occur?
What happened?
If the user sets the minimum duration in regions to zero, this occasionally causes strange bugs in the construction of a
PiecewiseTrajectory
, when success would be expected. Here's a simple reproduction:Running this yields the following output:
I'll try to diagnose this and fix it sometime in the next couple of days.
Version
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What operating system are you using?
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What installation option are you using?
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Relevant log output
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