allow user to force new computation for the same input #132
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Otherwise sending the same target with non-zero min_duration multiple times in a control loop will not trigger a new trajectory.
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Hey @v4hn! Am I understanding this correctly, that the trajectory doesn't get re-calculated although you changed the minimum duration of the input parameters? |
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No, I did not change anything. I just want to compute for the very same goal at the very same position again and give the same minimum duration as in the last target request again.
Basically I wanted to get some nice repetitive plots and evaluate execution for whether targets can be reached that way.
But even if I set the Input parameters again (call `operator=` for position, velocity and minimum duration) it does not trigger a new spline with the correct minimum duration) if the three parameters are exactly the same.
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Btw, I've renamed it to |
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Otherwise sending the same target with non-zero min_duration
multiple times in a control loop will not trigger a new trajectory.
Instead it claims that it already achieved the target.
An alternative way to address the problem is to add a flag to
InputParameter that can force a fresh computation in the next update.
I'm not particularly in love with the proposed solution,
so if you have better ideas I would like to hear them. :)