fix error in time scaling

rafaelrojasmiliani · Aug 20, 2024 · 2c4435d · 2c4435d
1 parent 51ec13f
commit 2c4435d
Showing 1 changed file with 11 additions and 5 deletions.
diff --git a/include/gsplines/GSpline.hpp b/include/gsplines/GSpline.hpp
@@ -319,15 +319,21 @@ class GSplineInheritanceHelper
         _acceleration_bound.value().data(),
         static_cast<long>(_acceleration_bound.value().size()));
 
+    // d / d t {f (\alpha t)} = df/dt \alpha
+    // the best value of alpha is
+    //
+    // {df/dt}_max \alpha = v_bound
+    //
+    // alpha =  v_bound / {df/dt}_max
+    //
     const double max_velocity_ratio =
-        (gspline_diff_1_evaluated.array().abs().colwise().maxCoeff() /
-         velocity_bound.transpose().array())
+        (velocity_bound.transpose().array() /
+         gspline_diff_1_evaluated.array().abs().colwise().maxCoeff())
             .maxCoeff();
 
     const double max_acceleration_ratio =
-        Eigen::sqrt(
-            gspline_diff_2_evaluated.array().abs().colwise().maxCoeff() /
-            acceleration_bound.transpose().array())
+        Eigen::sqrt(acceleration_bound.transpose().array() /
+                    gspline_diff_2_evaluated.array().abs().colwise().maxCoeff())
             .maxCoeff();
 
     const double time_scale_factor =