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Fix jerk limit #557

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Fix jerk limit #557

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b752397
fix mistake in jerk limit
schadocalex Nov 28, 2018
5017f09
fix mistake in jerk limit (diff_drive_controller)
schadocalex Nov 28, 2018
ca8d6e2
fix limits tests
schadocalex Dec 6, 2018
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2 changes: 1 addition & 1 deletion diff_drive_controller/src/speed_limiter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ namespace diff_drive_controller
const double dv = v - v0;
const double dv0 = v0 - v1;

const double dt2 = 2. * dt * dt;
const double dt2 = dt * dt;

const double da_min = min_jerk * dt2;
const double da_max = max_jerk * dt2;
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4 changes: 2 additions & 2 deletions diff_drive_controller/test/diffbot_limits.yaml
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Expand Up @@ -8,12 +8,12 @@ diffbot_controller:
min_acceleration: -0.5
max_acceleration: 1.0
has_jerk_limits: true
max_jerk: 5.0
max_jerk: 10.0
angular:
z:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: true
max_acceleration: 2.0
has_jerk_limits: true
max_jerk: 10.0
max_jerk: 20.0
2 changes: 1 addition & 1 deletion four_wheel_steering_controller/src/speed_limiter.cpp
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Expand Up @@ -115,7 +115,7 @@ namespace four_wheel_steering_controller
const double dv = v - v0;
const double dv0 = v0 - v1;

const double dt2 = 2. * dt * dt;
const double dt2 = dt * dt;

const double da_min = min_jerk * dt2;
const double da_max = max_jerk * dt2;
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