Merge pull request #68 from personalrobotics/feature/issue67

Fixing issue 67

Author: jeking04

src/prpy/planning/workspace.py

@@ -206,9 +206,9 @@ def PlanWorkspacePath(self, robot, traj, timelimit=5.0,
             except PlanningError as e:
                 # Compute the min acceptable time from the min waypoint index.
                 if min_waypoint_index is None:
-                    min_waypoint_index = traj.GetNumWaypoints()
+                    min_waypoint_index = traj.GetNumWaypoints()-1
                 cspec = traj.GetConfigurationSpecification()
-                wpts = [traj.GetWaypoint(i) for i in range(min_waypoint_index)]
+                wpts = [traj.GetWaypoint(i) for i in range(min_waypoint_index+1)]
                 dts = [cspec.ExtractDeltaTime(wpt) for wpt in wpts]
                 min_time = numpy.sum(dts)