Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Avoid division by zero in python #982

Merged
merged 1 commit into from
Jan 8, 2025
Merged

Avoid division by zero in python #982

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 12 additions & 10 deletions pathplannerlib-python/pathplannerlib/trajectory.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
Loading