jacobian not nan

RoboJackets · Feb 26, 2025 · d0ec3e8 · d0ec3e8
1 parent 0729903
commit d0ec3e8
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/soccer/src/soccer/planning/primitives/angle_planning.hpp b/soccer/src/soccer/planning/primitives/angle_planning.hpp
@@ -69,6 +69,9 @@ inline AngleFunction face_point(const rj_geometry::Point point) {
                Eigen::Vector2d* jacobian) -> double {
 
         if ((instant.position - point).mag() < kRobotRadius) {
+            if (jacobian != nullptr) {
+                *jacobian = Eigen::Vector2d::Zero();
+            }
             return previous_angle;
         }