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Fix bug with acceleration

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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
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7
src/include/fl/mathematics/control/TrajectoryTracker.h
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@ -45,13 +45,14 @@ class TrajectoryTracker {
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_->angular_velocity = angular_velocity;
return {linear_velocity, (linear_velocity - previous_velocity.linear_velocity) / dt, angular_velocity,
(angular_velocity - previous_velocity.angular_velocity) / dt};
return output;
}
virtual TrajectoryTrackerVelocityOutput CalculateState(const TimedIterator<Pose2dWithCurvature>& iterator,