[smoother] limiting target velocities does not preserve direction

yujinrobot / yujin_ocs

Yujin Robot's open-source control libraries

http://wiki.ros.org/yujin_ocs

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[smoother] limiting target velocities does not preserve direction #94

Open bit-pirate opened 8 years ago

bit-pirate commented 8 years ago

https://github.com/yujinrobot/yujin_ocs/blob/indigo-devel/yocs_velocity_smoother/src/velocity_smoother_nodelet.cpp#L95-L99

But smoothing preserves the direction. Should do the same when limiting (bounding).

bit-pirate commented 8 years ago

FYI @AlexReimann @corot

corot commented 8 years ago

몰라요..... :confused: Both options make sense to me... The proposed change sounds reasonable, but I would not be surprised if the robot only bounds the out-of-limit speed. Are you really running robots at full speed? :open_mouth: