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Optimize pure pursuit computation time

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Prateek Machiraju 2019-07-01 11:06:41 -04:00 committed by GitHub
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commit 11b45e96f0
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src/main/cpp/fl/mathematics/control/PurePursuitTracker.cpp
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@ -47,7 +47,7 @@ Pose2d PurePursuitTracker::CalculateLookaheadPose(const TimedIterator<Pose2dWith
} }
auto lookahead_pose_by_distance = iterator.CurrentState().state.State().Pose(); auto lookahead_pose_by_distance = iterator.CurrentState().state.State().Pose();
auto previewed_time = units::second_t(0.0); auto previewed_time = lookahead_time_;
// Run the loop until a distance that is greater than the minimum lookahead distance is found or until // Run the loop until a distance that is greater than the minimum lookahead distance is found or until
// we run out of "trajectory" to search. If this happens, we will simply extend the end of the trajectory. // we run out of "trajectory" to search. If this happens, we will simply extend the end of the trajectory.