[paparazzi-commits] [4582]

[antoine drouin]

Revision: 4582
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4582
Author:   poine
Date:     2010-02-24 12:49:23 +0000 (Wed, 24 Feb 2010)
Log Message:
-----------


Modified Paths:
--------------
    paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci
    paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce

Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci        2010-02-24 
12:45:01 UTC (rev 4581)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci        2010-02-24 
12:49:23 UTC (rev 4582)
@@ -43,7 +43,11 @@
   disp_xy = b1(1:2) - b0(1:2);
   [pulse_dt, pulse_ampl, traj_dt] = compute_step(norm(disp_xy), dyn(1,:), 
max_accel(1), max_speed(1));
   fo_traj(1:2,1,1) = b0(1:2);
-  u = disp_xy' / norm(disp_xy);
+  if norm(disp_xy) != 0
+    u = disp_xy' / norm(disp_xy);
+  else
+    u = [0 0]';
+  end
   for i=2:length(time)
     delta_t = time(i)-time(1);
     if delta_t < pulse_dt

Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce 2010-02-24 
12:45:01 UTC (rev 4581)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce 2010-02-24 
12:49:23 UTC (rev 4582)
@@ -18,7 +18,7 @@
 //b0 = [ 0    0   0];
 //b1 = [-10   1  -2];
 b0 = [ 0   0   0 ];
-b1 = [ 1   0   -5];
+b1 = [ 0   0   -1 ];
 [fo_traj] = sbb_gen_traj(time, dyn, max_speed, max_accel, b0, b1);