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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
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when vs and ve not equal to 0, computeForwardPass() maybe have some problem. #235

Open ZhengyangZhang-brian opened 1 year ago

ZhengyangZhang-brian commented 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.

hungpham2511 commented 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.