[C++] Geometric path fails when evaluating on its boundaries.

[jmirabel]

Is there a specific reason why the check below is strict (<, >) and not loose (<=, >=) ?

toppra/cpp/src/toppra/geometric_path/piecewise_poly_path.cpp

Line 241 in 8387f7d

if (pos > m_breakpoints[m_breakpoints.size()-1] || pos < m_breakpoints[0]) {

[hungpham2511]

It's because the path is valid if pos == m_breakpoints[0] or pos == m_breakpoints[N - 1].

[hungpham2511]

As for the issue you mention in the title, is this due to small numerical errors?

[DianeBury]

This error happens sometimes during the optimization:

Error: hpp_idl.hpp.Error(msg='Position 0.0125251 is outside of range [ 0, 0.0125251]')

Where the position is equal to one of the bounds of the range. Can this be be due to numerical errors?

[jmirabel]

@DianeBury can you make sure the above message prints the message with full precision ?

It's because the path is valid if pos == m_breakpoints[0] or pos == m_breakpoints[N - 1].

I don't understand that. Do you mean invalid ?
The range would thus be ] a, b [ as the code suggests and not [a, b] as the message suggests ?

[jmirabel]

Ok, I misread the check above. I understand now. It must be a numerical error then.