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@@ -155,7 +155,7 @@ bool LoadedMPC::solve(const Trajectory& trajectory, const Pose2d& target,Eigen::
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angular = fabs(line_velocity) / radius;
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if (wmg < 0) angular = -angular;
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}
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- double max_wmg=fabs(line_velocity) / radius;
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+ double max_wmg=0.5/radius;//fabs(line_velocity) / radius;
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std::vector<Pose2d> filte_poses;
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if (filte_Path(pose_agv, target, trajectory, filte_poses, 50) == false)
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