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Update tolerances documentation
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@fmauch
fmauch committed Dec 4, 2024
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5 changes: 2 additions & 3 deletions joint_trajectory_controller/doc/speed_scaling.rst
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Expand Up @@ -92,9 +92,8 @@ Effect on tolerances
When speed scaling is used while executing a trajectory, the tolerances configured for execution
will be scaled, as well.

Since commands are generated from the scaled trajectory time, **path errors** will also be compared to
the scaled trajectory. However, since the next command is always using the full time step, there
will obviously always be a small error added by the robot only executing a part of the command.
Since commands are generated from the scaled trajectory time, **path errors** will also be compared
to the scaled trajectory.

The **goal time tolerance** also uses the virtual trajectory time. This means that a trajectory
being executed with a constant scaling factor of 0.5 will take twice as long for execution than the
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