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Published 20 hours ago • verified publisher icon ros-controls

trajectory_interface::sample does not populate PosVelAcc::time_from_start

Open miguelprada opened this issue 4 years ago • 0 comments

Related to #577.

The trajectory_interface::sample(...) method does not populate state.time_from_start, because QuinticSplineSegment::sample(...) doesn't either.

Not completely sure of the semantics of PosVelAccState::time_from_start (from start of the segment or the trajectory?) and, thus, of how it should be filled to offer a PR with a fix, though.

miguelprada avatar Oct 28 '21 09:10 miguelprada