From 1616ac8d7bcf3dcfcac23c36f3e2fe690cb450b5 Mon Sep 17 00:00:00 2001 From: HiepLM Date: Thu, 23 Apr 2026 17:26:51 +0700 Subject: [PATCH] uodate --- .../mkt_algorithm/src/diff/diff_predictive_trajectory.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp b/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp index cb5aa1a..fd76e9e 100644 --- a/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp +++ b/src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp @@ -1266,9 +1266,10 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra // nếu đường thẳng if (max_kappa <= straight_threshold) { - if(fabs(path.poses.back().pose.x) * 0.9 < min_lookahead_dist_ && fabs(path.poses.back().pose.theta) < 0.1) + if(fabs(path.poses.back().pose.x) * 0.9 < min_lookahead_dist_) { - drive_cmd.theta = 0.01; + if(fabs(path.poses.back().pose.x) < min_journey_squared_ && fabs(path.poses.back().pose.theta) < 0.05) + drive_cmd.theta = 0.01; return generateParallelPath(path, sign_x); } return generateHermiteTrajectory(path, sign_x);