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correct a typo
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
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  • control/autoware_mpc_lateral_controller/src

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control/autoware_mpc_lateral_controller/src/mpc.cpp

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@@ -243,7 +243,7 @@ void MPC::setReferenceTrajectory(
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void MPC::resetPrevResult(const SteeringReport & current_steer)
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{
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// Consider limit. The prev value larger than limitation brakes the optimization constraint and
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// Consider limit. The prev value larger than limitation breaks the optimization constraint and
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// results in optimization failure.
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const float steer_lim_f = static_cast<float>(m_steer_lim);
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m_raw_steer_cmd_prev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f);

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