Open ZhengyangZhang-brian opened 1 year ago
When we design online window planning function based on TOPP, vs and ve not equal to 0. But in the function of computeForwardPass(), m_data.parametrization(0) = vel_start is error, We should use m_data.parametrization(0) = vel_start * vel_start instead.
That's right. Thanks for reporting.
When we design online window planning function based on TOPP, vs and ve not equal to 0. But in the function of computeForwardPass(), m_data.parametrization(0) = vel_start is error, We should use m_data.parametrization(0) = vel_start * vel_start instead.