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update rotation

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HiepLM
2026-04-23 10:29:19 +07:00
parent 251c741dd9
commit 274d3dd858
1 changed files with 3 additions and 3 deletions
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src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
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@@ -519,9 +519,9 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
const double distance_allow_rotate = min_journey_squared_; const double distance_allow_rotate = min_journey_squared_;
const double path_distance_to_rotate = journey(transformed_plan.poses, 0, transformed_plan.poses.size() - 1); const double path_distance_to_rotate = journey(transformed_plan.poses, 0, transformed_plan.poses.size() - 1);
allow_rotate |= path_distance_to_rotate >= distance_allow_rotate; allow_rotate |= path_distance_to_rotate >= distance_allow_rotate;
// allow_rotate &= std::hypot(compute_plan_.poses.front().pose.x - pose.pose.x, compute_plan_.poses.front().pose.y - pose.pose.y) <= 0.1; allow_rotate &= std::hypot(compute_plan_.poses.front().pose.x - pose.pose.x, compute_plan_.poses.front().pose.y - pose.pose.y) <= 0.1;
allow_rotate &= fabs(transformed_plan.poses.front().pose.y) <= 0.1; // allow_rotate &= fabs(transformed_plan.poses.front().pose.y) <= 0.1;
robot::log_info("pose.y %f", fabs(transformed_plan.poses.front().pose.y)); // robot::log_info("pose.y %f", fabs(transformed_plan.poses.front().pose.y));
double angle_to_heading; double angle_to_heading;
if (allow_rotate && shouldRotateToPath(transformed_plan, carrot_pose, velocity, angle_to_heading, sign_x)) if (allow_rotate && shouldRotateToPath(transformed_plan, carrot_pose, velocity, angle_to_heading, sign_x))
{ {