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HiepLM
2026-04-27 15:09:17 +07:00
parent 62a2fed488
commit 33d6537947
1 changed files with 2 additions and 2 deletions
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src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
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@@ -520,8 +520,8 @@ 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;
robot_geometry_msgs::Pose2D back_pose = transformed_plan.poses.back().pose; // robot_geometry_msgs::Pose2D back_pose = transformed_plan.poses.back().pose;
allow_rotate |= fabs(atan2(back_pose.y, back_pose.x) - back_pose.theta) > M_PI / 3.0; // allow_rotate |= fabs(atan2(back_pose.y, back_pose.x) - back_pose.theta) > M_PI / 3.0;
allow_rotate &= (fabs(transformed_plan.poses.front().pose.y) <= 0.5); allow_rotate &= (fabs(transformed_plan.poses.front().pose.y) <= 0.5);