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acmerobotics / road-runner

Wheeled mobile robot motion planning library designed for FTC
MIT License
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offsets.size or offsets.size-1 #106

Open EthanHu29 opened 3 weeks ago

EthanHu29 commented 3 weeks ago

In line 272 actions.kt, t.offsets.size should be t.offsets.size-1?

line 272 val (aNew, msRem) = ts.zip(ts.scan(0) { acc, t -> acc + t.offsets.size }).foldRight(

As the size of the offsets is always the number of paths plus 1?

EthanHu29 commented 3 weeks ago

I changed one of the test cases like shown here 1 The actions generated by .build() are 2 After change line 272, the actions generated by .build() changed to 3 Based on the test case rewritten, last action should be a parrallel action as shown above.