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Off by one in getAverageSegmentDuration #1079

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merged 8 commits into from
Mar 14, 2022
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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2 changes: 1 addition & 1 deletion moveit_core/robot_trajectory/src/robot_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@ double RobotTrajectory::getAverageSegmentDuration() const
if (duration_from_previous_.empty())
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Suggested change
if (duration_from_previous_.empty())
if (duration_from_previous_.empty() || (duration_from_previous_.size() == 1 && !has_initial_segment))

return 0.0;
else
return getDuration() / static_cast<double>(duration_from_previous_.size());
return getDuration() / static_cast<double>(duration_from_previous_.size() - 1);
}

void RobotTrajectory::swap(RobotTrajectory& other)
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