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control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

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@@ -519,8 +519,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
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// NOTE: getPitchByTraj() calculates the pitch angle as defined in
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// ../media/slope_definition.drawio.svg while getPitchByPose() is not, so `raw_pitch` is reversed
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const double raw_pitch = (-1.0) * longitudinal_utils::getPitchByPose(current_pose.orientation);
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const double traj_pitch =
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longitudinal_utils::getPitchByTraj(control_data.interpolated_traj, control_data.target_idx, m_wheel_base);
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const double traj_pitch = longitudinal_utils::getPitchByTraj(
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control_data.interpolated_traj, control_data.target_idx, m_wheel_base);
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if (m_slope_source == SlopeSource::RAW_PITCH) {
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control_data.slope_angle = m_lpf_pitch->filter(raw_pitch);

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