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Hiep sử custom và thông số rotate

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HiepLM
2026-04-24 14:52:11 +07:00
parent 9c14054d3f
commit 875db4ba1e
2 changed files with 5 additions and 5 deletions
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8
src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
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@@ -519,11 +519,11 @@ 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 |= allow_rotate |= path_distance_to_rotate >= distance_allow_rotate;
(path_distance_to_rotate >= distance_allow_rotate && allow_rotate |= fabs(transformed_plan.poses.back().pose.theta) >= M_PI / 2;
fabs(transformed_plan.poses.front().pose.y * cos(transformed_plan.poses.front().pose.theta)) <= 0.1); allow_rotate &= fabs(transformed_plan.poses.front().pose.y * cos(transformed_plan.poses.front().pose.theta)) <= 0.1;
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))
{ {
if (!stopped(velocity, max_vel_theta_ + rot_stopped_velocity_, trans_stopped_velocity_)) if (!stopped(velocity, max_vel_theta_ + rot_stopped_velocity_, trans_stopped_velocity_))

2
src/Algorithms/Packages/global_planners/custom_planner

Submodule src/Algorithms/Packages/global_planners/custom_planner updated: 62a493a892...d5ef0b1075