HiepLM/pnkx_nav_core
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix giam toc

Browse Source
This commit is contained in:
QUYVN
2026-03-25 10:33:01 +00:00
parent ea41848a4a
commit ba503eca85
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
View File

@@ -476,8 +476,9 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
twist = traj_->nextTwist(); twist = traj_->nextTwist();
} }
double v_max = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x; 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_; robot_nav_2d_msgs::Path2D transformed_plan = this->transform_plan_;
if (transformed_plan.poses.empty()) if (transformed_plan.poses.empty())
{ {