8000 Wrong coefficient used in waypoint constraints. · Issue #5 · MRASL/mrasl_mav_traj · GitHub
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Wrong coefficient used in waypoint constraints. #5
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Wrong coefficient used in waypoint constraints.#5
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andre-nguyen
opened on Jul 3, 2019

In https://github.com/MRASL/mrasl_mav_traj/blob/master/src/mrasl_mav_traj/TrajectoryGenerator.cpp#L436

 // Departure constraint
double int_t = 1 / std::pow(t_next - t_now, der);
polynomial = coeffs.row(der).cwiseProduct(I.row(der)) * int_t_prev;

The wrong coefficient is used, should be int_t instead of int_t_prev. Unclear how this did not visibly affect the results?

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