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discontinuous position and velocity in some case #2

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Linjackffy opened this issue Dec 15, 2020 · 0 comments
Open

discontinuous position and velocity in some case #2

Linjackffy opened this issue Dec 15, 2020 · 0 comments

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@Linjackffy
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Hi, all
I found a bug when I changed _MAX_Acc from 3 to 10. Below is the figures of the result from TimeOptimizer

Figure_2

Figure_3

Figure_4

There is a discontinuity in the velocity diagram (and also position diagram), but not in the acceleration diagram.
Is this a code bug or a numerical issue？

Thanks in advance for your reply!
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@Linjackffy