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trajectory_interface::sample does not populate PosVelAcc::time_from_start #580

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miguelprada opened this issue Oct 28, 2021 · 0 comments
Open

trajectory_interface::sample does not populate PosVelAcc::time_from_start #580

miguelprada opened this issue Oct 28, 2021 · 0 comments

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@miguelprada
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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.
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