RSDK-13382: Velocity Switching Point Search Updates#175
Open
nfranczak wants to merge 14 commits intoviam-modules:mainfrom
Open
RSDK-13382: Velocity Switching Point Search Updates#175nfranczak wants to merge 14 commits intoviam-modules:mainfrom
nfranczak wants to merge 14 commits intoviam-modules:mainfrom
Conversation
tests; refinment of continuos switching point search wip maybe slightly better wipwipwip wip wip more correct continuous switching point search better testing
…20260209-RSDK-13382-velocity-switching-point-search
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Refactored the original
find_velocity_switching_pointsince it was rather large into sub-functions.Previously it seems that wrt equation 40 we were blatantly looking for when LHS = RHS.
This does not consider two things.
The method of searching for the fulfillment of equations 41 and 42 is largely not changed.
We also had Claude add plenty of tests and asked Claude to validate that the changes made to
trajectory.cppare sane.