{"action":"opened","issue":{"url":"https://api.github.com/repos/sikang/motion_primitive_library/issues/1","repository_url":"https://api.github.com/repos/sikang/motion_primitive_library","labels_url":"https://api.github.com/repos/sikang/motion_primitive_library/issues/1/labels{/name}","comments_url":"https://api.github.com/repos/sikang/motion_primitive_library/issues/1/comments","events_url":"https://api.github.com/repos/sikang/motion_primitive_library/issues/1/events","html_url":"https://github.com/sikang/motion_primitive_library/issues/1","id":395495587,"node_id":"MDU6SXNzdWUzOTU0OTU1ODc=","number":1,"title":"something wrong? ","user":{"login":"LoweDavince","id":6355565,"node_id":"MDQ6VXNlcjYzNTU1NjU=","avatar_url":"https://avatars2.githubusercontent.com/u/6355565?v=4","gravatar_id":"","url":"https://api.github.com/users/LoweDavince","html_url":"https://github.com/LoweDavince","followers_url":"https://api.github.com/users/LoweDavince/followers","following_url":"https://api.github.com/users/LoweDavince/following{/other_user}","gists_url":"https://api.github.com/users/LoweDavince/gists{/gist_id}","starred_url":"https://api.github.com/users/LoweDavince/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LoweDavince/subscriptions","organizations_url":"https://api.github.com/users/LoweDavince/orgs","repos_url":"https://api.github.com/users/LoweDavince/repos","events_url":"https://api.github.com/users/LoweDavince/events{/privacy}","received_events_url":"https://api.github.com/users/LoweDavince/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2019-01-03T08:51:50Z","updated_at":"2019-01-03T08:51:50Z","closed_at":null,"author_association":"NONE","body":"Hi ,\r\nwhen i change the start and goal as following and set the mode to velocity control, something wrong occurs. Is it my improper use?\r\n```c++  \r\n  Waypoint2D start, goal;\r\n  //start.pos = Vec2f(reader.start(0), reader.start(1));\r\n  start.pos = Vec2f(6.77, -3.5);\r\n  start.vel = Vec2f::Zero();\r\n  start.acc = Vec2f::Zero();\r\n  start.jrk = Vec2f::Zero();\r\n  start.yaw = 0;\r\n  start.use_pos = true;\r\n  start.use_vel = false;\r\n  start.use_acc = false;\r\n  start.use_jrk = false;\r\n  start.use_yaw = false;\r\n\r\n  //goal.pos = Vec2f(reader.goal(0), reader.goal(1));\r\n  goal.pos = Vec2f(28, -1.1);\r\n  goal.vel = Vec2f::Zero();\r\n  goal.acc = Vec2f::Zero();\r\n  goal.jrk = Vec2f::Zero();\r\n  goal.yaw = 0;\r\n  goal.control = start.control;\r\n\r\n  // Initialize control input\r\n  decimal_t u = 0.1;\r\n```\r\n![1546503464 1](https://user-images.githubusercontent.com/6355565/50629186-7e3d1280-0f76-11e9-957f-9a530a540a2b.png)\r\n"}}
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