Revert validation for splines

urfeex · urfeex · commit a68cc53e7ac0 · 2025-07-08T11:19:08.000+02:00
Since zero times are allowed if it is the first point and the position is the current robot's position, we leave that check to the URScript
diff --git a/src/control/motion_primitives.cpp b/src/control/motion_primitives.cpp
@@ -56,11 +56,8 @@ bool MotionPrimitive::validate() const
 
 bool SplinePrimitive::validate() const
 {
-  if (duration <= std::chrono::milliseconds(0))
-  {
-    URCL_LOG_ERROR("Duration must be greater than zero.");
-    return false;
-  }
+  // Spline primitives don't have the same restriction as others do. Whether the primitives are valid or not
+  // is checked in the URScript program.
   return true;
 }
 bool OptimoveJPrimitive::validate() const

Original file line number	Diff line number	Diff line change
`@@ -56,11 +56,8 @@ bool MotionPrimitive::validate() const`
`56`	`56`
`57`	`57`	`bool SplinePrimitive::validate() const`
`58`	`58`	`{`
`59`		`- if (duration <= std::chrono::milliseconds(0))`
`60`		`- {`
`61`		`- URCL_LOG_ERROR("Duration must be greater than zero.");`
`62`		`- return false;`
`63`		`- }`
	`59`	`+ // Spline primitives don't have the same restriction as others do. Whether the primitives are valid or not`
	`60`	`+ // is checked in the URScript program.`
`64`	`61`	`return true;`
`65`	`62`	`}`
`66`	`63`	`bool OptimoveJPrimitive::validate() const`