From b903b02912d024a74af36f051481d18ec9ab4211 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Michael=20G=C3=B6rner?= Date: Tue, 13 Dec 2016 18:57:13 +0100 Subject: [PATCH] time parameterization: use constants (#380) These were defined above but not used?! --- .../src/iterative_time_parameterization.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp index 1f991b3c018..cbd7d657eec 100644 --- a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp +++ b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp @@ -123,7 +123,7 @@ void IterativeParabolicTimeParameterization::applyVelocityConstraints(robot_traj for (std::size_t j = 0; j < vars.size(); ++j) { - double v_max = 1.0; + double v_max = DEFAULT_VEL_MAX; const robot_model::VariableBounds &b = rmodel.getVariableBounds(vars[j]); if (b.velocity_bounded_) v_max = @@ -355,7 +355,7 @@ void IterativeParabolicTimeParameterization::applyAccelerationConstraints( next_waypoint = rob_trajectory.getWayPointPtr(index + 1); // Get acceleration limits - double a_max = 1.0; + double a_max = DEFAULT_ACCEL_MAX; const robot_model::VariableBounds &b = rmodel.getVariableBounds(vars[j]); if (b.acceleration_bounded_) a_max = std::min(fabs(b.max_acceleration_ * acceleration_scaling_factor),