Fix null feedforwards for final trajectory state (#782)

mjansen4857 · Oct 1, 2024 · cd108d5 · cd108d5
1 parent f5a2234
commit cd108d5
Show file tree

Hide file tree

Showing 3 changed files with 14 additions and 0 deletions.
diff --git a/pathplannerlib-python/pathplannerlib/trajectory.py b/pathplannerlib-python/pathplannerlib/trajectory.py
@@ -233,6 +233,9 @@ def __init__(self, path: Union[PathPlannerPath, None], starting_speeds: Union[Ch
                             self._events.append(ScheduleCommandEvent(prevState.timeSeconds, m.command))
                             unaddedMarkers.pop(0)
 
+                # Create feedforwards for the end state
+                self._states[-1].feedforwards = [DriveFeedforward(0, 0, 0)] * config.numModules
+
     def getEvents(self) -> List[Event]:
         """
         Get all the events to run while following this trajectory

diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java b/pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java
@@ -154,6 +154,11 @@ public PathPlannerTrajectory(
           }
         }
       }
+
+      // Create feedforwards for the end state
+      for (int m = 0; m < config.numModules; m++) {
+        states.get(states.size() - 1).feedforwards[m] = new DriveFeedforward(0, 0, 0);
+      }
     }
   }
 

diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/trajectory/PathPlannerTrajectory.cpp
@@ -120,6 +120,12 @@ PathPlannerTrajectory::PathPlannerTrajectory(
 					unaddedMarkers.erase(unaddedMarkers.begin());
 				}
 			}
+
+			// Create feedforwards for the end state
+			for (size_t m = 0; m < config.numModules; m++) {
+				m_states[m_states.size() - 1].feedforwards.emplace_back(
+						DriveFeedforward { 0_mps_sq, 0_N, 0_A });
+			}
 		}
 	}
 }