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changliuliu / TemporalOptimization

Speed profile planning via temporal optimization
MIT License
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Missing term on h representation? #2

Closed HongyiSun closed 5 years ago

HongyiSun commented 5 years ago

Hello! Thank you for your work.

There seems to be a missing term of (t(i-1)+t(i-2)) on h(3) and h(4) equation on your code and paper, which should be 

h(3) = t(i)*t(i-1)*t(i-2)*(t(i)+t(i-1))*(t(i-1)+t(i-2))*(t(i)+t(i-1)+t(i-2));

And there maybe some minor changes on the dh term accordingly. Please correct me if I am wrong. Thanks a lot!

changliuliu commented 5 years ago

Yes... It seems we are missing this term. Would you mind submitting a pull request of the correct version? Thanks!