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Off by one in getAverageSegmentDuration #1079

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merged 8 commits into from
Mar 14, 2022
+15 −0
Merged

Off by one in getAverageSegmentDuration #1079

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844182e
Off by one in getAverageSegmentDuration
Feb 17, 2022
52267b9
Case for one waypoint
stephanie-eng Feb 17, 2022
6e462e1
Warn if too few waypoints to get duration
stephanie-eng Feb 17, 2022
dd0e22a
Merge branch 'main' into seng/average_timestep_fix
henningkayser Feb 18, 2022
6ff5f46
Discount first duration_from_previous from average duration if it is 0
Feb 25, 2022
3007ebb
Restore empty duration from previous check as per Andy's suggestion
Feb 25, 2022
a9e760a
Changed warning message for case with 1 segment with 0 duration to be…
Mar 2, 2022
79323ba
Merge branch 'main' into seng/average_timestep_fix
Mar 14, 2022
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13 changes: 11 additions & 2 deletions moveit_core/robot_trajectory/src/robot_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,8 +91,17 @@ double RobotTrajectory::getDuration() const

double RobotTrajectory::getAverageSegmentDuration() const
{
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Suggested change
{
{
const bool has_initial_segment{ !duration_from_previous_.empty() && duration_from_previous_.at(0) != 0.0 };

if (duration_from_previous_.empty())
return 0.0;
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How about restoring these two lines as an initial error check?

if (duration_from_previous_.empty())
{
  RCLCPP_WARN(rclcpp::get_logger("RobotTrajectory"), "Too few waypoints to calculate a duration. Returning 0.");
  return 0.0;
}

// If the initial segment has a duration of 0, exclude it from the average calculation
if (duration_from_previous_[0] == 0)
{
if (duration_from_previous_.size() <= 1)
{
RCLCPP_WARN(rclcpp::get_logger("RobotTrajectory"), "Too few waypoints to calculate a duration. Returning 0.");
return 0.0;
}
else
return getDuration() / static_cast<double>(duration_from_previous_.size() - 1);
}
else
return getDuration() / static_cast<double>(duration_from_previous_.size());
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Suggested change
if (duration_from_previous_[0] == 0)
{
if (duration_from_previous_.size() <= 1)
{
RCLCPP_WARN(rclcpp::get_logger("RobotTrajectory"), "Too few waypoints to calculate a duration. Returning 0.");
return 0.0;
}
else
return getDuration() / static_cast<double>(duration_from_previous_.size() - 1);
}
else
return getDuration() / static_cast<double>(duration_from_previous_.size());
if (has_initial_segment)
return getDuration() / static_cast<double>(duration_from_previous_.size());
else
return getDuration() / static_cast<double>(duration_from_previous_.size() - 1);

}
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