when vs and ve not equal to 0, computeForwardPass() maybe have some problem.

[ZhengyangZhang-brian]

When we design online window planning function based on TOPP, vs and ve not equal to 0. But in the function of computeForwardPass(), m_data.parametrization(0) = vel_start is error, We should use m_data.parametrization(0) = vel_start * vel_start instead.

[hungpham2511]

When we design online window planning function based on TOPP, vs and ve not equal to 0. But in the function of computeForwardPass(), m_data.parametrization(0) = vel_start is error, We should use m_data.parametrization(0) = vel_start * vel_start instead.

That's right. Thanks for reporting.