prateekma/FalconLibraryCPP
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fix bug with acceleration

Browse Source
This commit is contained in:
Prateek Machiraju 2019-06-26 15:53:41 -04:00
parent e6b32616da
commit af98e92fe8
1 changed files with 4 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/include/fl/mathematics/control/TrajectoryTracker.h
View File

@ -45,13 +45,14 @@ class TrajectoryTracker {
return {linear_velocity, 0.0, angular_velocity, 0.0}; return {linear_velocity, 0.0, angular_velocity, 0.0};
} }
const auto previous_velocity = *previous_velocity_; TrajectoryTrackerOutput output{
linear_velocity, (linear_velocity - previous_velocity_->linear_velocity) / dt, angular_velocity,
(angular_velocity - previous_velocity_->angular_velocity) / dt};
previous_velocity_->linear_velocity = linear_velocity; previous_velocity_->linear_velocity = linear_velocity;
previous_velocity_->angular_velocity = angular_velocity; previous_velocity_->angular_velocity = angular_velocity;
return {linear_velocity, (linear_velocity - previous_velocity.linear_velocity) / dt, angular_velocity, return output;
(angular_velocity - previous_velocity.angular_velocity) / dt};
} }
virtual TrajectoryTrackerVelocityOutput CalculateState(const TimedIterator<Pose2dWithCurvature>& iterator, virtual TrajectoryTrackerVelocityOutput CalculateState(const TimedIterator<Pose2dWithCurvature>& iterator,