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[smoother] limiting target velocities does not preserve direction #94

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bit-pirate opened this issue Feb 3, 2016 · 2 comments
Open

[smoother] limiting target velocities does not preserve direction #94

bit-pirate opened this issue Feb 3, 2016 · 2 comments

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@bit-pirate
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https://github.com/yujinrobot/yujin_ocs/blob/indigo-devel/yocs_velocity_smoother/src/velocity_smoother_nodelet.cpp#L95-L99

But smoothing preserves the direction. Should do the same when limiting (bounding).
@bit-pirate
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FYI @AlexReimann @corot

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corot commented Feb 3, 2016

몰라요..... 😕
Both options make sense to me... The proposed change sounds reasonable, but I would not be surprised if the robot only bounds the out-of-limit speed. Are you really running robots at full speed? 😮

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@corot @bit-pirate