always add current poisition as the first point in trajectory points #73
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This was referenced Jul 16, 2016
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Yep. This change makes sense. I considered this behavior in the past as well, but never followed through. I'd be willing to merge if you retarget at the |
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ok, rebased |
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| @@ -361,7 +361,7 @@ def _on_trajectory_action(self, goal): | |||
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| dimensions_dict = self._determine_dimensions(trajectory_points) | |||
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| if num_points == 1: | |||
| if num_points >= 1 and trajectory_points[0].time_from_start.to_sec() > 0: | |||
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This can be following? because it returns when num_points == 0.
if trajectory_points[0].time_from_start.to_sec() > 0:
sorry, I missed this commend. Created new pull request -> #74 |
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hi, currently, joint trajectoy action server behavios
if points is 1, add current position to the first point in trajectory points
others, assuming that user set current position to the first point in trajectory points
Is there any reason to do this? why not always put first point in trajectory points ?
c.f #55, #55