From ba503eca855a7025b1be370a0102255630e22acc Mon Sep 17 00:00:00 2001 From: QUYVN Date: Wed, 25 Mar 2026 10:33:01 +0000 Subject: [PATCH] fix giam toc --- .../mkt_algorithm/src/diff/diff_predictive_trajectory.cpp | 5 +++-- 1 file changed, 3 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 404f31d..ddf4b30 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 @@ -476,8 +476,9 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator( twist = traj_->nextTwist(); } double v_max = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x; - drive_cmd.x = std::min(sqrt(twist.x * twist.x), fabs(v_max)); - + // drive_cmd.x = std::min(sqrt(twist.x * twist.x), fabs(v_max)); + drive_cmd.x = sqrt(twist.x * twist.x); + robot_nav_2d_msgs::Path2D transformed_plan = this->transform_plan_; if (transformed_plan.poses.empty()) {