| commit | 64cb060a22fe5b3d4466aec6809f938ccc362851 | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sat Feb 25 17:21:23 2023 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Sat Feb 25 17:37:19 2023 -0800 |
| tree | f1347500456fa8c8b972401c5bd332406e62d09e | |
| parent | 8db89b041d3cc300a22d271fbecd184c0f3e898f [diff] |
Let alpha go to 1 exactly We were aborting on some splines when evaluating the end point. Whops. Change-Id: I10c59875ade7e66071e6451451aace12b9d8429a Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/superstructure/arm/trajectory.cc b/y2023/control_loops/superstructure/arm/trajectory.cc index 565f497..717a29e 100644 --- a/y2023/control_loops/superstructure/arm/trajectory.cc +++ b/y2023/control_loops/superstructure/arm/trajectory.cc
@@ -155,7 +155,7 @@ distance_step_size + static_cast<double>(before) * distance_step_size; CHECK_GT(alpha, 0.0); - CHECK_LT(alpha, 1.0); + CHECK_LE(alpha, 1.0); return alpha; }