Update GenerateSplineInitialGuess.hpp

SleipnirGroup · Jul 1, 2024 · 1b297c6 · 1b297c6
1 parent 1c2f6e1
commit 1b297c6
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/include/trajopt/util/GenerateSplineInitialGuess.hpp b/include/trajopt/util/GenerateSplineInitialGuess.hpp
@@ -217,6 +217,10 @@ CalculateWaypointStatesWithControlIntervals(
   return waypoint_states;
 }
 
+/** 
+ * This is used to calculated the suggested number of states in order to get 
+ * a path with a dt of around desiredDt.
+ */
 std::vector<std::vector<frc::Trajectory::State>> CalculateWaypointStatesWithDt(
     const trajopt::SwervePath path,
     const std::vector<std::vector<Pose2d>> initialGuessPoints,