From 4833bf9608837c97dc6519f88a2759ecd2d83c79 Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Tue, 23 Feb 2021 08:32:14 +0100
Subject: [PATCH] chore: Documentation
---
.../ObstacleAvoidingPlatformUnitHelper.cpp | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
index 595bdf0dd..0cbf7e730 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/ObstacleAvoidingPlatformUnitHelper.cpp
@@ -92,9 +92,15 @@ armarx::ObstacleAvoidingPlatformUnitHelper::update()
m_waypoint_changed = true;
}
+ // Only call `moveTo` on platform unit if the target actually changed, as `update` is designed
+ // to be called within a high-frequency loop. Prevents constantly invalidating the buffers in
+ // platform unit.
if (m_waypoint_changed)
{
- // Get thresholds depending on waypoint or final target (last waypoint).
+ // Use reached-thresholds regardless of whether this is the final target or just a waypoint.
+ // The near-thresholds are more unconstrained as the reached-thresholds, so this helper will
+ // change the position target before the unit will actually reach it, preventing slow downs
+ // or stops.
const float pos_thresh = m_cfg.pos_reached_threshold;
const float ori_thresh = m_cfg.ori_reached_threshold;
--
GitLab