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Remove dT from FIR planner inputs

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2018-08-11 14:50:38 -04:00
parent 332ef149c6
commit 5d9ea7c227
1 changed files with 1 additions and 1 deletions
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tools/Motion Planning/FIR_Planner.py
+1 -1
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@@ -13,7 +13,7 @@ import random
# vr, ar and dr Reached values of velocity and acceleration
# Tj , Tja, Tjv and Tjd Length of the constant jerk stages (FIR filter time)
def FIR_trapPlan(Xf, Xi, Vi, Ai, Vmax, Amax, Dmax, dT=0.001):
def FIR_trapPlan(Xf, Xi, Vi, Ai, Vmax, Amax, Dmax):
dX = Xf - Xi # Distance to travel
s = np.sign(dX) # Sign