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Feature/linear traj start nonzero vel

Craig McDonald requested to merge feature/linear-traj-start-nonzero-vel into devel

Description

Finishing a feature started by AB, which they thought would be needed to solve the punch party guidance issue. Regardless of whether or not that's true, I completed it. It has some general use for control. There is some tedious math to figure out all the edge cases, but the result is that trapezoidal velocity profiles for linear trajectories should be generated with arbitrary starting velocity.

The way it has been implemented, starting velocity is an optional parameter to be passed when the BeginMove function is called for the LinearTrajectory. If the parameter is not provided, it will default to zero and behave exactly as it did before, so things like the HapticChangingSphere that make use of this class will not have their behavior affected.

What to focus on

  • Test using the Simple Move Example, which is the only place where this feature has been implemented. Test by having moving the robot while starting the trajectory. Should always generate a smooth trajectory to the endpoint.

Issues

What issues does this fix?

  • Fixes #51

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