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Matthias Grob
2023-11-30 17:16:02 +01:00
parent 7b4712cb29
commit 8bb20db7da
8 changed files with 66 additions and 62 deletions
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src/lib/motion_planning/PositionSmoothing.hpp
+4 -4
View File
@@ -262,11 +262,11 @@ public:
/**
* @param jerk maximum jerk for generated trajectory
*/
inline void setMaxJerk(const Vector3f &jerk)
inline void setMaxJerk(const float jerk)
{
_trajectory[0].setMaxJerk(jerk(0));
_trajectory[1].setMaxJerk(jerk(1));
_trajectory[2].setMaxJerk(jerk(2));
_trajectory[0].setMaxJerk(jerk);
_trajectory[1].setMaxJerk(jerk);
_trajectory[2].setMaxJerk(jerk);
}
/**
src/lib/motion_planning/PositionSmoothingTest.cpp
+1 -1
View File
@@ -43,7 +43,7 @@ public:
PositionSmoothingTest()
{
_position_smoothing.setMaxJerk({MAX_JERK, MAX_JERK, MAX_JERK});
_position_smoothing.setMaxJerk(MAX_JERK);
_position_smoothing.setMaxAcceleration({MAX_ACCELERATION, MAX_ACCELERATION, MAX_ACCELERATION});
_position_smoothing.setMaxVelocity({MAX_VELOCITY, MAX_VELOCITY, MAX_VELOCITY});
_position_smoothing.setMaxAllowedHorizontalError(MAX_ALLOWED_HOR_ERR);