fix: account for angular acceleration in swerve angle kinematics constraint#1453
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calcmogul merged 2 commits intoSleipnirGroup:mainfrom Mar 23, 2026
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Doesn't seem to meaningfully impact feasibility or generation time from my brief tests. |
calcmogul
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Change looks good, but needs formatter run.
calcmogul
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Mar 23, 2026
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Huh. This change sped up the solve time for the following trajectory from 4.4 s to 1.3 s. Choreo GUI: Solver diagnostics with main: Solver diagnostics with this PR: |
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