Merge pull request #108 from plusk01/fix/nlopt-invalid-init-step-size

fix incorrect check on nlopt initial step size
ethz-asl · Jan 11, 2021 · ce70b62 · ce70b62
2 parents 5aec26d + 62c5014
commit ce70b62
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...eneration/include/mav_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h b/...eneration/include/mav_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h
@@ -472,7 +472,7 @@ int PolynomialOptimizationNonLinear<_N>::optimizeTimeAndFreeConstraints() {
     double x = initial_solution[i];
     const double abs_x = std::abs(x);
     // Initial step size cannot be 0.0 --> invalid arg
-    if (abs_x <= std::numeric_limits<double>::lowest()) {
+    if (abs_x <= std::numeric_limits<double>::epsilon()) {
       initial_step.push_back(1e-13);
     } else {
       initial_step.push_back(optimization_parameters_.initial_stepsize_rel *