HiepLM/pnkx_nav_core
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fix giam toc

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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
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5
src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
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@@ -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())
{