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tesseract-robotics / tesseract_planning

Contains packages related to motion and process planning for the Tesseract Motion Planning Environment
http://tesseract-docs.rtfd.io
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Time optimal trajectory has unused variables velocity_scaling_factor and acceleration_scaling_factory #118

Open Levi-Armstrong opened 2 years ago

Levi-Armstrong commented 2 years ago

@mpowelson I just noticed that the two variables are not being used in time_optimal_trajectory_generation.cpp. Do you know how these should be applied?

mpowelson commented 2 years ago

I think the way it was supposed to work is that if you only set one in the composite it will pass it to TimeOptimalTrajectoryGeneration to be handled internally. If you pass one for each MoveInstruction (use_move_profile == true), then it should set the one in TimeOptimalTrajectoryGeneration to 1 and then rescale each segment in the task generator aftewards. This was because it was going to be complicated to apply it on a per segment basis because of the way it resamples the trajectory.

That said, looking at it now it looks like scaling factors inside TimeOptimalTrajectoryGeneration aren't doing anything. So that should probably be fixed. I'm using TOTG, and it works well. I just didn't notice the scaling factors not working because I am setting one for each PlanInstruction (which gets passed through to the MoveInstructions)