Dev/nav #21
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nubertj
requested changes
Mar 28, 2023
| @@ -55,6 +56,8 @@ class HeadingController { | |||
| PathSegment currentPathSegment_; | |||
| unsigned int lastClosestPointId_ = 0; | |||
| Vector desiredLinearVelocity_; | |||
| // max path deviation from tracked path | |||
| double maxPathDistance_ = 1.0; | |||
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maxPathDeviation_ would be better, similar to your comment
| @@ -35,7 +35,15 @@ void SimplePathTracker::importCurrentPath(const Path& path) { | |||
| if (!isPathAndCurrenStateWithinRadius(path, headingController_->getActiveLookaheadDistance())) { | |||
| std::cout << "WARNING: path imported is more than one lookahead distance away from the current state" << std::endl; | |||
| } | |||
| currentPath_ = path; | |||
| // remove from path segments that have less than two points (they are not valid for pure pursuit) | |||
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this is only ran once in the beginning after importing the path, right?
Otherwise it could maybe be implementted more efficiently...
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what happened before with the pure pursuit with these segments?
| @@ -156,7 +156,9 @@ void updateFromDD(const pure_pursuit_ros::PurePursuitConfig& config, AckermannSt | |||
| param->maxSteeringAngleMagnitude_ = config.max_steering_angle_magnitude_in_deg * kDegToRad; | |||
| param->maxSteeringRateOfChange_ = config.max_steering_rate_of_change_in_deg_per_sec * kDegToRad; | |||
| param->wheelBase_ = config.wheel_base; | |||
| param->maxPathDistance_ = config.max_path_distance; | |||
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having some comments in the config would be nice I assume.
| @@ -0,0 +1,3 @@ | |||
| --- | |||
| # Response | |||
| bool status | |||
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Introduces new functionality to: