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change angle parmeter to degrees

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This commit is contained in:
baumanta
2019-08-07 15:29:13 +02:00
committed by Roman Bapst
parent f80a539faa
commit e91614c791
2 changed files with 6 additions and 5 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
+2 -1
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@@ -215,7 +215,8 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
//check if the bin must be considered regarding the given stick input
Vector2f bin_direction = {cos(angle), sin(angle)};
if (setpoint_dir.dot(bin_direction) > 0 && setpoint_dir.dot(bin_direction) > cosf(_param_mpc_col_prev_ang.get())) {
if (setpoint_dir.dot(bin_direction) > 0
&& setpoint_dir.dot(bin_direction) > cosf(math::radians(_param_mpc_col_prev_ang.get()))) {
//calculate max allowed velocity with a P-controller (same gain as in the position controller)
float curr_vel_parallel = math::max(0.f, curr_vel.dot(bin_direction));
float delay_distance = curr_vel_parallel * _param_mpc_col_prev_dly.get();