Maybe a bug about getMaxAccRate()?

[ExplorerFzw]

Hello, dear author.

Your project is excellent. I have a small question. In the getMaxAccRate function in file https://github.com/Robotics-STAR-Lab/REMANI-Planner/blob/master/remani_planner/traj_utils/include/traj_utils/poly_traj_utils.hpp, why does it look like this? It uses the first three lines instead of the first two. My understanding is that the first two lines are x and y, and the third line is the first joint of the robotic arm, which appears to be z here.

[CK1201]

Hello,

That's an excellent and observant question. Your understanding is spot on.

You are correct that the getMaxAccRate function in traj_utils/poly_traj_utils.hpp is designed to handle three dimensions. The use of the first three lines to calculate the maximum acceleration rate stems from the fact that this code was originally developed for quadrotor trajectory planning, where controlling the motion in all three axes (x, y, and z) is crucial.

However, in the context of the REMANI-Planner for a mobile manipulator, this particular function is not actually used. While the planner does extensive calculations for the robot's trajectory, it does not specifically require this getMaxAccRate function for its operations.

Therefore, you are right to identify it as a remnant from a previous application. It's a piece of legacy code that has been carried over but is not active in the current planner's logic for the robotic arm.

Thank you for your keen eye and for reaching out.