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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
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[C++] Geometric path fails when evaluating on its boundaries. #214

Open jmirabel opened 1 year ago

jmirabel commented 1 year ago

Is there a specific reason why the check below is strict (<, >) and not loose (<=, >=) ?

https://github.com/hungpham2511/toppra/blob/8387f7dd9a9063ca665c084fbf53396b55f72ab3/cpp/src/toppra/geometric_path/piecewise_poly_path.cpp#L241

hungpham2511 commented 1 year ago

It's because the path is valid if pos == m_breakpoints[0] or pos == m_breakpoints[N - 1].

hungpham2511 commented 1 year ago

As for the issue you mention in the title, is this due to small numerical errors?

DianeBury commented 1 year ago

This error happens sometimes during the optimization:

Error: hpp_idl.hpp.Error(msg='Position 0.0125251 is outside of range [ 0, 0.0125251]')

Where the position is equal to one of the bounds of the range. Can this be be due to numerical errors?

jmirabel commented 1 year ago

@DianeBury can you make sure the above message prints the message with full precision ?

It's because the path is valid if pos == m_breakpoints[0] or pos == m_breakpoints[N - 1].

I don't understand that. Do you mean invalid ? The range would thus be ] a, b [ as the code suggests and not [a, b] as the message suggests ?

jmirabel commented 1 year ago

Ok, I misread the check above. I understand now. It must be a numerical error then.