Fixed assert on time validity

robotology · Aug 24, 2022 · dff2890 · dff2890
1 parent 9e116ac
commit dff2890
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/UnicyclePlanner.cpp b/src/UnicyclePlanner.cpp
@@ -230,7 +230,7 @@ bool UnicyclePlanner::getIntegratorSolution(double time, UnicycleState &unicycle
 
  double initialTime = fullSolution.front().time;
 
- assert(time > initialTime && time < fullSolution.back().time && "Error while retrieving the integrator solution. Time out of bounds.");
+ assert(time >= initialTime && time <= fullSolution.back().time && "Error while retrieving the integrator solution. Time out of bounds.");
 
  size_t index = static_cast<size_t>(std::round((time - initialTime)/m_integrator.maximumStepSize()));
  index = std::min(index, fullSolution.size() - 1);