Fix bug in SampledConstructor

RoboticExplorationLab · Mar 28, 2022 · 22020a2 · 22020a2 · bjack205 · Mar 29, 2022
1 parent 5731b66
commit 22020a2
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diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "RobotDynamics"
 uuid = "38ceca67-d8d3-44e8-9852-78a5596522e1"
 authors = ["Brian Jackson <[email protected]>"]
-version = "0.4.4"
+version = "0.4.5"
 
 [deps]
 FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"

diff --git a/src/trajectories.jl b/src/trajectories.jl
@@ -107,7 +107,7 @@ function SampledTrajectory{Nx,Nu}(X::Vector, U::Vector; kwargs...) where {Nx, Nu
     if length(U) == length(X)
         push!(Z, KnotPoint{Nx,Nu}(length(X[end]), length(U[end]), [X[end]; U[end]], times[N], Inf))
     else
-        push!(Z, KnotPoint{Nx,Nu}(length(X[end]), length(U[end]), [X[end]; U[1]*0], times[N], 0.0))
+        push!(Z, KnotPoint{Nx,Nu}(length(X[end]), length(U[end]), [X[end]; U[end]*0], times[N], 0.0))
     end
     return SampledTrajectory(Z)
 end