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jishnusen
reviewed
May 18, 2019
profile.cc
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| return full_send_time; | ||
| } else { | ||
| // first part of trapezoid | ||
| double accel_time = (constraints_.kMaxAcceleration - current_.velocity) / constraints_.kMaxAcceleration; |
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constraints_.kMaxAcceleration - current_.velocity doesn't make any sense
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ah, my bad. It should have been goal_velocity - current_velocity
jishnusen
reviewed
May 18, 2019
profile.cc
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| double vel_time = delta_x - (2 * accel_dist); | ||
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| double full_time = (2 * accel_time) + (vel_time / constraints_.kMaxVelocity); |
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what if it doesn't get to full?
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Bad naming, it should be total_time
jishnusen
reviewed
May 18, 2019
profile.h
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| constexpr kMaxAcceleration = 1.0; | ||
| #include <math.h> | ||
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| struct Constraints { |
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Should be inside the class, since that's all thats gonna use it.
*Remove struct *Rename variables *Fix logic from typo
jishnusen
reviewed
May 21, 2019
profile.cc
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| double vel_time = delta_x - (2 * accel_dist); | ||
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| double total_time = (2 * accel_time) + (vel_time / kMaxVelocity); |
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What if the profile is triangular?
jishnusen
reviewed
May 21, 2019
profile.cc
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| return full_send_time; | ||
| } else { | ||
| // first part of trapezoid | ||
| double accel_time = (goal_.velocity - current_.velocity) / kMaxAcceleration; |
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This should be able to go faster than the goal velocity as long as it slows down in time
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I think I'm done