From a22f6ea16c96f695165c98cd9b65f07f3682d1fa Mon Sep 17 00:00:00 2001
From: Michiel Cottaar <MichielCottaar@protonmail.com>
Date: Tue, 30 Jul 2024 16:38:01 +0100
Subject: [PATCH] Ensure slew rate cost function is always a number
---
src/parts/trapezoids.jl | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/parts/trapezoids.jl b/src/parts/trapezoids.jl
index c9f6b5b..ef33bbc 100644
--- a/src/parts/trapezoids.jl
+++ b/src/parts/trapezoids.jl
@@ -74,6 +74,7 @@ function (::Type{Trapezoid})(; orientation=nothing, rise_time=nothing, flat_time
get_free_variable.(slew_rate),
group
)
+ add_cost_function!(-sum(abs(res.slew_rate)))
else
res = Trapezoid1D(
get_free_variable(rise_time),
@@ -83,13 +84,13 @@ function (::Type{Trapezoid})(; orientation=nothing, rise_time=nothing, flat_time
group
)
apply_simple_constraint!(res.slew_rate, :>=, 0)
+ add_cost_function!(-res.slew_rate)
end
set_simple_constraints!(res, kwargs)
apply_simple_constraint!(res.flat_time, :>=, 0)
apply_simple_constraint!(res.rise_time, :>=, 0)
- add_cost_function!(-res.slew_rate)
scanner_constraints!(res)
return res
end
--
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