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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
730 stars 165 forks source link

trajectory not calculated #115

Closed old-ma closed 2 years ago

old-ma commented 2 years ago

Hi, In ruckig::Ruckig::update(), the trigger of updating trajectory depends on if (input!=current_input). Somtimes, at the first time runing update(), even the current_input is not assigned by input but the value of current_input has already been equal to input, Especially the object of class Ruckig is created repeatly in for loop, the compiler gives the some memory address to ruckig, so that the current_input has the same value of last one. In this case, if the same input is gived, the trajectory will not be created, so the result will be wrong.

pantor commented 2 years ago

This should be fixed with the latest commit. Thanks for reporting!