Optimization of time precision problem #228
Description
This kinematics state can't find profile.
In fact exist nice solution 'ReachedLimits::VEL', but it solve t[6] = -5.5511151231257827e-17 less than zero so function 'profile->check' return false.
Ruckig<1> otg(0.01); // control cycle
InputParameter<1> input;
OutputParameter<1> output;
input.current_position = { -3.446 };
input.current_velocity = { 0.551 };
input.current_acceleration = { 2.159 };
input.target_position = { 1.382 };
input.target_velocity = { 2.516 };
input.target_acceleration = { -2.2 };
input.max_velocity = { 3.0 };
input.max_acceleration = { 4.0 };
input.max_jerk = { 5.0 };
Maybe we should add these code in funciton 'profile->check<>'
bool check(double jf, double vMax, double vMin, double aMax, double aMin) {
for (size_t i = 0; i < 7; ++i) {
if (abs(t[i]) < t_precision) {
t[i] = 0;
}
}
......
}