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usdot-fhwa-stol / carma-utils

Utility libraries for hardware drivers in the CARMA Platform
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handle stopping trajectory more gracefully #211

Open MishkaMN opened 9 months ago

MishkaMN commented 9 months ago

Summary

When tactical plugins are written, sometimes stopping behavior can be written incorrectly, for example generating negative speed. First this behavior should not be allowed in the time_to_speed function and throw if there is an issue.

However, as a safety feature, the time_to_speed function should still force the negative values to be 0 to continue the operation.

Reasoning for new functionality

No response

MishkaMN commented 9 months ago

New issue arose from this throwing behavior is this: https://github.com/usdot-fhwa-stol/carma-utils/issues/213