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planning/motion_velocity_smoother/src/smoother
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lines changed Original file line number Diff line number Diff line change @@ -215,7 +215,7 @@ TrajectoryPoints SmootherBase::applySteeringRateLimit(
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// Step2. Calculate steer rate for each trajectory point.
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std::vector<double > steer_rate_arr (output.size (), 0.0 );
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- for (size_t i = 1 ; i < output.size () - 1 ; i++) {
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+ for (size_t i = 0 ; i < output.size () - 1 ; i++) {
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// velocity
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const auto & v_front = output.at (i + 1 ).longitudinal_velocity_mps ;
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const auto & v_back = output.at (i).longitudinal_velocity_mps ;
@@ -234,7 +234,6 @@ TrajectoryPoints SmootherBase::applySteeringRateLimit(
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steer_rate_arr.at (i) = steering_diff / dt;
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}
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- steer_rate_arr.at (0 ) = steer_rate_arr.at (1 );
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steer_rate_arr.back () = steer_rate_arr.at ((output.size () - 2 ));
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// Step3. Remove noise by mean filter.
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