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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
634 stars 155 forks source link

Fix synchronization issue in calculator_target.hpp #125

Closed Snowrock closed 2 years ago

Snowrock commented 2 years ago

When the Ruckig::degrees_of_freedom is changed to smaller than its initial value, if we want to switch the InputParameter::synchronization to Phase, it will never take effect. As std::all_of(...) will check all the element of inp_per_dof_synchronization even the dof is not actived. So I try to fix it, please check it!

pantor commented 2 years ago

Thanks so much for your feedback!

Please see #124 for a detailed answer.