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Without jerk limits, validate_input()
prints nothing yet returns false. Ruckig update()
fails.
#200
Comments
Two quick responses:
|
I'm trying to do what's mentioned in the README:
Not clear if that means I need to clear the vectors (current accel, target accel, max jerk) or just leave them as they were initialized. Doesn't seem to work either way. Good point though, I could fill |
Doesn't compile!
I've included the header file |
The input parameters are initialized with infinite max jerk and max acceleration - omitting means that you can just leave them as they are. Filling the max limits with Not sure about the Are you using the most recent Ruckig version? |
Ruckig works great for me when jerk limits are present. However I see weird behavior when no
jerk limit
/current acceleration
/target acceleration
is specified. Here's the state of the system. Seems fine as far as I can tell. All joint positions are valid.When I try to run
validateInput()
the results are a little strange. Try/catch does not print anything! Did I use this correctly?There is a
false
boolean returned, but that doesn't give me much info to debug:This is for a MoveIt2 PR btw.
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