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Re-add null constraints check to precalcValues #955

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merged 1 commit into from
Dec 30, 2024
Merged

Re-add null constraints check to precalcValues #955

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4 changes: 4 additions & 0 deletions pathplannerlib-python/pathplannerlib/path.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1143,6 +1143,10 @@ def _precalcValues(self) -> None:
if self.numPoints() > 0:
for i in range(self.numPoints()):
point = self.getPoint(i)

if point.constraints is None:
point.constraints = self._globalConstraints

curveRadius = self._getCurveRadiusAtPoint(i)

if math.isfinite(curveRadius):
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5 changes: 5 additions & 0 deletions pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java
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Original file line number Diff line number Diff line change
Expand Up @@ -969,6 +969,11 @@ private void precalcValues() {
if (numPoints() > 0) {
for (int i = 0; i < allPoints.size(); i++) {
PathPoint point = allPoints.get(i);

if (point.constraints == null) {
point.constraints = globalConstraints;
}

double curveRadius = getCurveRadiusAtPoint(i, allPoints);

if (Double.isFinite(curveRadius)) {
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