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1 parent fa09f6f commit fb62606Copy full SHA for fb62606
control/pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
@@ -205,7 +205,8 @@ TrajectoryPoint getExtendTrajectoryPoint(
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TrajectoryPoint extend_trajectory_point;
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extend_trajectory_point.pose = extend_pose;
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- // TODO[someone]: Transform functions creates point at inverse Z direction for non-zero pitch value
+ // TODO[someone]: Transform functions creates point at inverse Z direction for non-zero pitch
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+ // value
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extend_trajectory_point.pose.position.z = 2 * goal_point.pose.position.z - extend_pose.position.z;
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extend_trajectory_point.longitudinal_velocity_mps = goal_point.longitudinal_velocity_mps;
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extend_trajectory_point.lateral_velocity_mps = goal_point.lateral_velocity_mps;
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