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Commit c625256

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fix getWz()
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
1 parent 3eeadef commit c625256

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4 files changed

+8
-4
lines changed

4 files changed

+8
-4
lines changed

simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -66,7 +66,8 @@ double SimModelDelaySteerAcc::getAx()
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}
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double SimModelDelaySteerAcc::getWz()
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{
69-
return state_(IDX::VX) * std::tan(state_(IDX::STEER) + steer_bias_) / wheelbase_;
69+
return state_(IDX::VX) * std::tan(state_(IDX::STEER)) / wheelbase_;
70+
;
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}
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double SimModelDelaySteerAcc::getSteer()
7273
{

simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -68,7 +68,8 @@ double SimModelDelaySteerAccGeared::getAx()
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}
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double SimModelDelaySteerAccGeared::getWz()
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{
71-
return state_(IDX::VX) * std::tan(state_(IDX::STEER) + steer_bias_) / wheelbase_;
71+
return state_(IDX::VX) * std::tan(state_(IDX::STEER)) / wheelbase_;
72+
;
7273
}
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double SimModelDelaySteerAccGeared::getSteer()
7475
{

simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_map_acc_geared.cpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -66,7 +66,8 @@ double SimModelDelaySteerMapAccGeared::getAx()
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}
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double SimModelDelaySteerMapAccGeared::getWz()
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{
69-
return state_(IDX::VX) * std::tan(state_(IDX::STEER) + steer_bias_) / wheelbase_;
69+
return state_(IDX::VX) * std::tan(state_(IDX::STEER)) / wheelbase_;
70+
;
7071
}
7172
double SimModelDelaySteerMapAccGeared::getSteer()
7273
{

simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_vel.cpp

+2-1
Original file line numberDiff line numberDiff line change
@@ -63,7 +63,8 @@ double SimModelDelaySteerVel::getAx()
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}
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double SimModelDelaySteerVel::getWz()
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{
66-
return state_(IDX::VX) * std::tan(state_(IDX::STEER) + steer_bias_) / wheelbase_;
66+
return state_(IDX::VX) * std::tan(state_(IDX::STEER)) / wheelbase_;
67+
;
6768
}
6869
double SimModelDelaySteerVel::getSteer()
6970
{

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