Commit 71a839f8 authored by Alexander Ryndin's avatar Alexander Ryndin
Browse files

adjust TrimPath

parent c9080951
......@@ -66,6 +66,16 @@ component TrimPath {
end
end
end
if closestSegmentIndex > -1
Q currentFree = 2; // 1st point is always the projection
Q start = closestSegmentIndex + 1;
for i = start:plannedTrajectoryLength
trimmedTrajectoryX(1,currentFree) = plannedTrajectoryX(1,i);
trimmedTrajectoryY(1,currentFree) = plannedTrajectoryY(1,i);
currentFree += 1;
end
trimmedTrajectoryLength = currentFree - 1;
end
end
}
}
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