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change size of reaction angle

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baumanta
2019-08-07 15:29:13 +02:00
committed by Roman Bapst
parent b26d3ac9d4
commit 150b5df7cb
1 changed files with 2 additions and 2 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
+2 -2
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@@ -224,8 +224,8 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
float vel_setpoint_bin = setpoint.dot(bin_direction); float vel_setpoint_bin = setpoint.dot(bin_direction);
//limit the velocity //limit the velocity
//do not react to obstacles more than 70 degree off the given stick input //do not react to obstacles more than 45 degree off the given stick input cos(45deg) = 0.71
if (vel_setpoint_bin > 0.94f * setpoint_length && vel_max_bin >= 0) { if (vel_setpoint_bin > 0.71f * setpoint_length && vel_max_bin >= 0) {
vel_max = math::min(vel_max, vel_max_bin); vel_max = math::min(vel_max, vel_max_bin);
} }
} }