fix

2026-03-23 14:36:59 +07:00
parent 36ce68abf1
commit 472cc4d02c
1 changed files with 2 additions and 2 deletions
--- 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);
  }
 }