From 5d9ea7c227f06c2a9b0af0deb2b637c7619c913b Mon Sep 17 00:00:00 2001 From: Unknown Date: Sat, 11 Aug 2018 14:50:38 -0400 Subject: [PATCH] Remove dT from FIR planner inputs --- tools/Motion Planning/FIR_Planner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/Motion Planning/FIR_Planner.py b/tools/Motion Planning/FIR_Planner.py index 5cc316e4..089636d1 100644 --- a/tools/Motion Planning/FIR_Planner.py +++ b/tools/Motion Planning/FIR_Planner.py @@ -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