*/
using namespace std;
-#include <vector>
#include "mri.h"
#include "nuts_bolts.h"
#endif
// Skip and use default max junction speed for 0 degree acute junction.
- if (cos_theta < 0.95F) {
+ if (cos_theta <= 0.9999F) {
vmax_junction = std::min(previous_nominal_speed, block->nominal_speed);
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
- if (cos_theta > -0.95F) {
+ if (cos_theta >= -0.9999F) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
float sin_theta_d2 = sqrtf(0.5F * (1.0F - cos_theta)); // Trig half angle identity. Always positive.
vmax_junction = std::min(vmax_junction, sqrtf(acceleration * junction_deviation * sin_theta_d2 / (1.0F - sin_theta_d2)));