Numerical issue on PLC (Velocity Mode -> "ErrorSynchronizationCalculation")

[Danielxyz123]

Hi Pantor,

with the following Parameters i got an "ErrorSynchronizationCalculation" on my PLC Hardware as in issue #54. But this case is in velocity mode "input.interface = ruckig::Interface::Velocity". The movement should stop.. ` Ruckig<4> otg {0.002}; InputParameter<4> input; OutputParameter<4> output; // Set input parameters input.max_velocity = { 1752, 1593, 1734, 131}; input.max_acceleration = { 17520, 17520, 1738, 1738}; input.max_jerk = { 175204, 175204, 26006, 17383};

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input.current_position      = {357.23, 406.96, 0.01, -8.38};
input.current_velocity      = {-1244, -1228, 0.0, -17.01};
input.current_acceleration  = {11816, 11298, 0.0, 0.0};

input.target_position       = {300, 349, 0.01, -10}; //doesnt't matter in velocity-mode
input.target_velocity       = {0.0, 0.0, 0.0, 0.0};
input.target_acceleration   = {0.0, 0.0, 0.0, 0.0};
input.interface             = ruckig::Interface::Velocity;

` I changed the threshold in the marked line to 1e-10 and it works fine.

[pantor]

This seems familiar... Again, this does work without error on my computer, but I've set the threshold to 1e-10 now.

[Danielxyz123]

Thx a lot!