Non-descriptive error while using ctraj and tpoly

[Finnepinnen]

Hi,

thank you for a fantastic toolbox. It saved my Master thesis!
While trying out robot trajectories I found an error which has an error message that doesn't really give any information about the source of the error.

Code example:

clear all;
mdl_puma560;
steps = 23;
T1=SE3(0.4,0.2,0)*SE3.Rx(pi);
T2=SE3(0.4,-0.2,0)*SE3.Rx(pi);
s = tpoly(0, 1, steps);
Ts=ctraj(T1,T2, s);

I found that the error:

Error using SE3/interp (line 437)
error in trinterp
Error in SE3/ctraj (line 474)
traj(i) = T0.interp(T1, s(i));
Error in untitled4 (line 13)
Ts=ctraj(T1,T2, s);

Shows up as soon as steps is less than 23.

Best regards
Peter Eriksson

[petercorke]

I see that as well, but the error message is a bit more informative for me, maybe I'm using a newer version. Seems the problem is tpoly() which outputs a value of s > 1, but not by much. Some numerical error in computing it, clip the value and all should be good.

steps = 23;
s = tpoly(0, 1, steps);
Ts=ctraj(T1,T2, s);
Error using SE3/interp (line 443)
value of S outside interval [0,1]
Error in SE3/ctraj (line 497)
traj(i) = T0.interp(T1, s(i));

max(s)
ans =
1.0000

max(s)-1
ans =
4.4409e-16