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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
625 stars 170 forks source link

Very small path velocity detected. Probably a numerical error occured #183

Open oPiZiL opened 3 years ago

oPiZiL commented 3 years ago

Describe the bug Parametrizer::validate() return false in my test

To Reproduce test_toppra_approach2.txt

Expected behavior A clear and concise description of what you expected to happen.

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Version Branch, commit, version?

hungpham2511 commented 3 years ago

Thanks for reporting, we will look into this issue.

Do you have happen to have any insights on what might happen?

oPiZiL commented 3 years ago

sorry, i have no idea

oPiZiL commented 3 years ago 
    algo->setN(10000);
hungpham2511 commented 3 years ago

I have not look into the details, but usually this happens when the path is not sufficiently smooth. Could you plot the path that you are trying to work on and post it here?

oPiZiL commented 3 years ago

You must be right, but how can i deal with such situation