From f98434494c3949ca20b6ca75b1121049051d778f Mon Sep 17 00:00:00 2001
From: Michael Jansen <mjansen4857@gmail.com>
Date: Tue, 7 Jan 2025 23:25:06 -0500
Subject: [PATCH] Avoid division by zero in python
---
.../pathplannerlib/trajectory.py | 22 ++++++++++---------
1 file changed, 12 insertions(+), 10 deletions(-)
diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
index 71642598..66f41028 100644
--- a/pathplannerlib-python/pathplannerlib/trajectory.py
+++ b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -578,12 +578,13 @@ def _forwardAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
for m in range(config.numModules):
prevRotDelta = state.moduleStates[m].angle - prevState.moduleStates[m].angle
modVel = state.moduleStates[m].speed
- dt = nextState.moduleStates[m].deltaPos / modVel
+ if modVel != 0.0:
+ dt = nextState.moduleStates[m].deltaPos / modVel
- if math.isfinite(dt):
- realMaxDT = max(realMaxDT, dt)
- if abs(prevRotDelta.degrees()) < 60:
- maxDT = max(maxDT, dt)
+ if math.isfinite(dt):
+ realMaxDT = max(realMaxDT, dt)
+ if abs(prevRotDelta.degrees()) < 60:
+ maxDT = max(maxDT, dt)
if maxDT == 0.0:
maxDT = realMaxDT
@@ -674,13 +675,14 @@ def _reverseAccelPass(states: List[PathPlannerTrajectoryState], config: RobotCon
for m in range(config.numModules):
prevRotDelta = state.moduleStates[m].angle - states[i - 1].moduleStates[m].angle
modVel = state.moduleStates[m].speed
- dt = nextState.moduleStates[m].deltaPos / modVel
+ if modVel != 0.0:
+ dt = nextState.moduleStates[m].deltaPos / modVel
- if math.isfinite(dt):
- realMaxDT = max(realMaxDT, dt)
+ if math.isfinite(dt):
+ realMaxDT = max(realMaxDT, dt)
- if abs(prevRotDelta.degrees()) < 60:
- maxDT = max(maxDT, dt)
+ if abs(prevRotDelta.degrees()) < 60:
+ maxDT = max(maxDT, dt)
if maxDT == 0.0:
maxDT = realMaxDT