Commit e76c0cf7 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[nd-traj-gen] const-acceleration takes time period vie setTrajectoryTime

parent 0e999961
...@@ -491,7 +491,7 @@ namespace dynamicgraph ...@@ -491,7 +491,7 @@ namespace dynamicgraph
m_constAccTrajGen[i]->setInitialPoint((*m_noTrajGen[i])(m_t)[0]); m_constAccTrajGen[i]->setInitialPoint((*m_noTrajGen[i])(m_t)[0]);
SEND_MSG("Set initial point of const-acc trajectory to "+toString((*m_noTrajGen[i])(m_t)[0]),MSG_TYPE_DEBUG); SEND_MSG("Set initial point of const-acc trajectory to "+toString((*m_noTrajGen[i])(m_t)[0]),MSG_TYPE_DEBUG);
m_constAccTrajGen[i]->setFinalPoint(xFinal); m_constAccTrajGen[i]->setFinalPoint(xFinal);
m_constAccTrajGen[i]->setTimePeriod(time); m_constAccTrajGen[i]->setTrajectoryTime(time);
m_status[i] = JTG_CONST_ACC; m_status[i] = JTG_CONST_ACC;
m_currentTrajGen[i] = m_constAccTrajGen[i]; m_currentTrajGen[i] = m_constAccTrajGen[i];
m_infiniteTime = true; m_infiniteTime = true;
......
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