New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Wrong coefficient used in waypoint constraints. #5

Open

andre-nguyen opened this issue Jul 3, 2019 · 0 comments

Assignees

Labels

bug

Contributor

andre-nguyen commented Jul 3, 2019

In https://github.com/MRASL/mrasl_mav_traj/blob/master/src/mrasl_mav_traj/TrajectoryGenerator.cpp#L436

 // Departure constraint
double int_t = 1 / std::pow(t_next - t_now, der);
polynomial = coeffs.row(der).cwiseProduct(I.row(der)) * int_t_prev;

The wrong coefficient is used, should be int_t instead of int_t_prev. Unclear how this did not visibly affect the results?

The text was updated successfully, but these errors were encountered:

andre-nguyen added the bug label

andre-nguyen self-assigned this

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment