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Handle negative path curvature for feedforward acceleration calculations

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Jaeyoung-Lim
2021-11-22 12:21:59 +01:00
committed by JaeyoungLim
parent 3213be28a8
commit 1469342125
1 changed files with 2 additions and 2 deletions
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src/lib/npfg/npfg.cpp
+2 -2
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@@ -456,8 +456,8 @@ float NPFG::lateralAccelFF(const Vector2f &unit_path_tangent, const Vector2f &gr
// path frame curvature is the instantaneous curvature at our current distance
// from the actual path (considering e.g. concentric circles emanating outward/inward)
const float path_frame_curvature = path_curvature / math::max(1.0f - path_curvature * signed_track_error,
path_curvature * MIN_RADIUS);
float path_frame_curvature = path_curvature / math::max(1.0f - path_curvature * signed_track_error,
fabsf(path_curvature) * MIN_RADIUS);
// limit tangent ground speed to along track (forward moving) direction
const float tangent_ground_speed = math::max(ground_vel.dot(unit_path_tangent), 0.0f);