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Revert control interval guess scalar
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jwbonner committed May 29, 2024
1 parent 9c894d5 commit 65a6cb4
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2 changes: 1 addition & 1 deletion trajectory_native/src/trajectory_service.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ namespace vts = org::littletonrobotics::vehicletrajectoryservice;

// Scales the Choreo algorithm's estimate of initial guess points, since we've found it to sometimes underestimate.
// We take the tradeoff of increased computation time since we cache paths anyway.
static const double CONTROL_INTERVAL_GUESS_SCALAR = 1.1;
static const double CONTROL_INTERVAL_GUESS_SCALAR = 1.25;

static const int MINIMUM_CONTROL_INTERVAL_COUNT = 0;

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