JTC trajectory end time validation fix #1090
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Could you please check the docs if this is clearly documented how to fill the |
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LGTM. Just one request: Could you please add checks for the end time to invalid_message test?
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@christophfroehlich is there anything I can do to help get this across the finish line? |
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(cherry picked from commit b51e4c2) Co-authored-by: Henry Moore <[email protected]>
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(cherry picked from commit b51e4c2) Co-authored-by: Henry Moore <[email protected]>
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The
time_from_startmember for aJointTrajectoryPointis monotonically increasing, not a delta time, so I think we can just use the last one in the vector; summing them up seems incorrect. I also moved the points empty check earlier because.back().time_from_startwould seg fault with an empty points vector.