HiepLM/pnkx_nav_core
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update logic xoay

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HiepLM
2026-04-24 15:01:37 +07:00
parent 875db4ba1e
commit dbbda958a2
1 changed files with 2 additions and 1 deletions
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src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
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@@ -521,7 +521,8 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
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 |= path_distance_to_rotate >= distance_allow_rotate; allow_rotate |= path_distance_to_rotate >= distance_allow_rotate;
allow_rotate |= fabs(transformed_plan.poses.back().pose.theta) >= M_PI / 2; allow_rotate |= fabs(transformed_plan.poses.back().pose.theta) >= M_PI / 2;
allow_rotate &= 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) <= 0.5);
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))