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Fixing initialization of linear velocity output commands in simple car and unicycle models.

master
Thomas Denewiler 2020-03-04 19:35:58 -08:00
parent f45dfee6df
commit a9a4d51b6b
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2 changed files with 2 additions and 2 deletions
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2
mpc_local_planner/include/mpc_local_planner/systems/simple_car.h
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@ -81,7 +81,7 @@ class SimpleCarModel : public BaseRobotSE2
{ {
assert(u.size() == getInputDimension()); assert(u.size() == getInputDimension());
twist.linear.x = u[0]; twist.linear.x = u[0];
twist.linear.y = twist.linear.y = 0; twist.linear.y = twist.linear.z = 0;
twist.angular.z = u[1]; // warning, this is the angle and not the angular vel twist.angular.z = u[1]; // warning, this is the angle and not the angular vel
twist.angular.x = twist.angular.y = 0; twist.angular.x = twist.angular.y = 0;

2
mpc_local_planner/include/mpc_local_planner/systems/unicycle_robot.h
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@ -72,7 +72,7 @@ class UnicycleModel : public BaseRobotSE2
{ {
assert(u.size() == getInputDimension()); assert(u.size() == getInputDimension());
twist.linear.x = u[0]; twist.linear.x = u[0];
twist.linear.y = twist.linear.y = 0; twist.linear.y = twist.linear.z = 0;
twist.angular.z = u[1]; twist.angular.z = u[1];
twist.angular.x = twist.angular.y = 0; twist.angular.x = twist.angular.y = 0;