From 93cdeebbf39664a71e5368c128eb478bc21f23b9 Mon Sep 17 00:00:00 2001 From: kajabo Date: Tue, 20 Aug 2019 16:01:28 +0200 Subject: [PATCH] clean up --- mav_trajectory_generation/src/segment.cpp | 4 ++-- .../mav_trajectory_generation_ros/ros_visualization.h | 5 ----- 2 files changed, 2 insertions(+), 7 deletions(-) diff --git a/mav_trajectory_generation/src/segment.cpp b/mav_trajectory_generation/src/segment.cpp index 5476e492..1370cfe8 100644 --- a/mav_trajectory_generation/src/segment.cpp +++ b/mav_trajectory_generation/src/segment.cpp @@ -218,11 +218,11 @@ bool Segment::getSegmentWithAppendedDimension(const Segment& segment_to_append, // Scale segment polynomials to the longer segment time. const double new_time = std::max(time_, segment_to_append.getTime()); - if (time_ < new_time){ + if (time_ < new_time && new_time > 0.0){ for (int d = 0; d < D_; d++) { current_segment[d].scalePolynomialInTime(time_ / new_time); } - } else if (segment_to_append.getTime() < new_time) { + } else if (segment_to_append.getTime() < new_time && new_time > 0.0) { for (int d = 0; d < segment_to_append.D(); d++) { segment_to_append_temp[d].scalePolynomialInTime(segment_to_append.getTime() / new_time); } diff --git a/mav_trajectory_generation_ros/include/mav_trajectory_generation_ros/ros_visualization.h b/mav_trajectory_generation_ros/include/mav_trajectory_generation_ros/ros_visualization.h index 805997ce..9a87dbff 100644 --- a/mav_trajectory_generation_ros/include/mav_trajectory_generation_ros/ros_visualization.h +++ b/mav_trajectory_generation_ros/include/mav_trajectory_generation_ros/ros_visualization.h @@ -47,11 +47,6 @@ void drawMavSampledTrajectorybyTime( const mav_msgs::EigenTrajectoryPoint::Vector& trajectory_points, double dt, const std::string& frame_id, visualization_msgs::MarkerArray* marker_array); -// Draw an eigen trajectory with markers that are a minimum of dt apart in time. -void drawMavSampledTrajectorybyTime( - const mav_msgs::EigenTrajectoryPoint::Vector& flat_states, double dt, - const std::string& frame_id, visualization_msgs::MarkerArray* marker_array); - // Same as drawMavTrajectory, but also draws an additional marker at a set // distance. void drawMavTrajectoryWithMavMarker(