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1 parent 8f49eac commit eb863f9Copy full SHA for eb863f9
control/autoware_mpc_lateral_controller/src/mpc.cpp
@@ -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
+ // 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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