From 472cc4d02ccbedab29cbe999a1c326fff413c325 Mon Sep 17 00:00:00 2001 From: HiepLM Date: Mon, 23 Mar 2026 14:36:59 +0700 Subject: [PATCH] fix --- .../mkt_algorithm/src/diff/diff_predictive_trajectory.cpp | 4 ++-- 1 file changed, 2 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 e96cd83..5a12570 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 @@ -1244,8 +1244,8 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra } else // nếu đường cong { - double v_min = std::clamp(fabs(drive_cmd.x), min_approach_linear_velocity_, min_speed_xy_); - drive_cmd.x = std::copysign(v_min, sign_x); + if(fabs(drive_cmd.x) < min_speed_xy_) + drive_cmd.x = std::copysign(min_speed_xy_, sign_x); return generateHermiteQuadraticTrajectory(path.poses.back(), sign_x); } }