[Bug 1026] VelocityProfile_TrapHalf moves backwards after setting duration

http://bugs.orocos.org/show_bug.cgi?id=1026

Ruben Smits <[email protected]> changed:

           What    |Removed                     |Added
----------------------------------------------------------------------------
             Status|ASSIGNED                    |RESOLVED
         Resolution|                            |FIXED

--- Comment #5 from Ruben Smits <[email protected]> 2013-04-17 13:00:29 CEST ---
A fix has been pushed on master: commit be4568aee69

There was a minor typo that has been fixed, the tests have been updated and
more documentation added.

The essential fix was:

diff --git a/orocos_kdl/src/velocityprofile_traphalf.cpp
b/orocos_kdl/src/velocityprofile_traphalf.cpp
index 090cec8..08d7048 100644
--- a/orocos_kdl/src/velocityprofile_traphalf.cpp
+++ b/orocos_kdl/src/velocityprofile_traphalf.cpp
@@ -60,7 +60,7 @@ void VelocityProfile_TrapHalf::PlanProfile1(double v,double
a) {
        a1 = startpos;
        b3 = a/2;
        b2 = -a*t1;
-       b1 = startpos + a2*t1*t1/2;
+       b1 = startpos + a*t1*t1/2;
        c3 = 0;
        c2 = v;
        c1 = endpos - v*duration;

-- 
Configure bugmail: http://bugs.orocos.org/userprefs.cgi?tab=email
------- You are receiving this mail because: -------
You are on the CC list for the bug.
You are the assignee for the bug.
-- 
Orocos-Dev mailing list
[email protected]
http://lists.mech.kuleuven.be/mailman/listinfo/orocos-dev