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Parameter update - Rename variables in lib

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using paramter_update.py script
This commit is contained in:
bresch
2019-04-03 15:38:50 +02:00
committed by Matthias Grob
parent ec5da55107
commit b14446f0e5
40 changed files with 245 additions and 231 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
+4 -2
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@@ -122,8 +122,10 @@ void CollisionPrevention::update_range_constraints()
float angle = math::radians((float)i * obstacle_distance.increment);
//calculate normalized velocity reductions
float vel_lim_x = (max_detection_distance - distance) / (max_detection_distance - MPC_COL_PREV_D.get()) * cos(angle);
float vel_lim_y = (max_detection_distance - distance) / (max_detection_distance - MPC_COL_PREV_D.get()) * sin(angle);
float vel_lim_x = (max_detection_distance - distance) / (max_detection_distance - _param_mpc_col_prev_d.get()) * cos(
angle);
float vel_lim_y = (max_detection_distance - distance) / (max_detection_distance - _param_mpc_col_prev_d.get()) * sin(
angle);
if (vel_lim_x > 0 && vel_lim_x > _move_constraints_x_normalized(1)) { _move_constraints_x_normalized(1) = vel_lim_x; }