Open mirkow opened 7 years ago
This occurs because when three consecutive waypoints cause a 180 degree turn, construction of CircularPathSegment has a call to acos(start_vector.dot(end_vector))
where start_vector.dot(end_vector) = -1
. Due to floating point errors, taking acos
can result in nan
which causes a crash.
Hi,
when testing some simple trajectory, the algorithm causes an abort in Eigen. The trajectory is 1d: 0, 1, 0.7, 1.6, 0
It fails with:
and backtrace:
The full code example to test this is:
Any idea why this happens?