Fix endpoint discontinuity in LimitCompensation test #50
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* Add a low-level unit test for BackwardLimitCompensation * Add a negative version of the same test * Move test implementation to cpp file * Delete a redundant save * Clang * Clang tidy * Clang * Move runBackwardLimitCompensationTest into test fixture * Check success Co-authored-by: Nathan Brooks <nathanbrooks@picknik.ai>
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superseded by #58 |
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This was caused by the wrong sign on delta_v. See the TrackPose version here, L149:
https://github.com/PickNikRobotics/trackpose/blob/master/trackpose_matlab/src/limit_compensation/ForwardLimitCompensation.m
The straight line on the graph is what we want to see, it means limit compensation is modifying the shape of the curve to compensate for upcoming limits. It turns into a straight line because of the velocity limit.