What that number controls is the maximum velocity of a motion segment, based on it's length. Right now, the trajectory planner has a hard restriction that it must spend at least one time step (usually 1ms) in each segment. This limitation means that we can't move more than one segment length in that time.
So, that constant specifies (indirectly) approximately how many timesteps must be spent in each segment. The higher that number, the longer the TP spends in each segment, and the slower the maximum velocity is. Honestly, I'd love to be rid of that constant entirely (basically set it to 1.0 permanently), but we'd have to do a additional testing to make sure it doesn't introduce RT errors. I know already from some experiments that a value of 1.0 doesn't automatically blow everything up, but I can't guarantee that it will be error-free without taking a closer look. Rob On Apr 18, 2015 6:47 AM, "biematic" <[email protected]> wrote: > In the Tp_types.h, it says like following:/* Minimum length of a segment > in cycles (must be greater than 1 to ensure each * segment is hit at least > once.) */ > #define TP_MIN_SEGMENT_CYCLES 1.02 > I cannot understand the description, what does the TP_MIN_SEGMENT_CYCLES > represent, can anyone explain it ? > > > > > ------------------------------------------------------------------------------ > BPM Camp - Free Virtual Workshop May 6th at 10am PDT/1PM EDT > Develop your own process in accordance with the BPMN 2 standard > Learn Process modeling best practices with Bonita BPM through live > exercises > http://www.bonitasoft.com/be-part-of-it/events/bpm-camp-virtual- > event?utm_ > source=Sourceforge_BPM_Camp_5_6_15&utm_medium=email&utm_campaign=VA_SF > _______________________________________________ > Emc-developers mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ BPM Camp - Free Virtual Workshop May 6th at 10am PDT/1PM EDT Develop your own process in accordance with the BPMN 2 standard Learn Process modeling best practices with Bonita BPM through live exercises http://www.bonitasoft.com/be-part-of-it/events/bpm-camp-virtual- event?utm_ source=Sourceforge_BPM_Camp_5_6_15&utm_medium=email&utm_campaign=VA_SF _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
