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viamrobotics · Nov 23, 2022 · 9a58069 · 9a58069
1 parent 2b6edb7
commit 9a58069
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/motionplan/plannerOptions.go b/motionplan/plannerOptions.go
@@ -29,7 +29,7 @@ const (
 	defaultEpsilon = 0.001
 
 	// default number of seconds to try to solve in total before returning.
-	defaultTimeout = 45.
+	defaultTimeout = 300.
 
 	// names of constraints.
 	defaultLinearConstraintName       = "defaultLinearConstraint"

diff --git a/spatialmath/quaternion.go b/spatialmath/quaternion.go
@@ -249,7 +249,7 @@ func slerp(qN1, qN2 quat.Number, by float64) quat.Number {
 	return quat.Number{q.W, q.X(), q.Y(), q.Z()}
 }
 
-// oppositeHemisphere returns true if all sings are opposite between two quats
+// oppositeHemisphere returns true if all sings are opposite between two quats.
 func oppositeHemisphere(q1, q2 quat.Number) bool {
 	if math.Signbit(q1.Real) == math.Signbit(q2.Real) {
 		return false