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HiepLM
2026-04-23 17:26:51 +07:00
parent 5d4d77155b
commit 1616ac8d7b
1 changed files with 3 additions and 2 deletions
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src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
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@@ -1266,9 +1266,10 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
// nếu đường thẳng // nếu đường thẳng
if (max_kappa <= straight_threshold) 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 generateParallelPath(path, sign_x);
} }
return generateHermiteTrajectory(path, sign_x); return generateHermiteTrajectory(path, sign_x);