Add re-timing, minimum dt robustness

2024-04-25 12:24:17 -07:00
parent d6e600c88c
commit 7362ccd4c2
54 changed files with 4773 additions and 2189 deletions
--- a/tests/interpolation_test.py
+++ b/tests/interpolation_test.py
@@ -43,16 +43,21 @@ def test_linear_interpolation():

    # create max_velocity buffer:
    out_traj_gpu, _, _ = get_batch_interpolated_trajectory(
-        in_traj, int_dt, max_vel, max_acc=max_acc, max_jerk=max_jerk, raw_dt=raw_dt
+        in_traj,
+        raw_dt,
+        int_dt,
+        max_vel,
+        max_acc=max_acc,
+        max_jerk=max_jerk,
    )
    #
    out_traj_gpu = out_traj_gpu.clone()

    out_traj_cpu, _, _ = get_batch_interpolated_trajectory(
        in_traj,
+        raw_dt,
        int_dt,
        max_vel,
-        raw_dt=raw_dt,
        kind=InterpolateType.LINEAR,
        max_acc=max_acc,
        max_jerk=max_jerk,