From 6f7d21f64b1298804132a9e36bb111d234e7ba40 Mon Sep 17 00:00:00 2001
From: Maksim Derbasov <ntfs.hard@gmail.com>
Date: Tue, 10 Dec 2024 06:23:08 +0900
Subject: [PATCH] Use same FP limits for TrackedVehicle to avoid self-moving
 (#2651)

Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com>
---
 src/systems/tracked_vehicle/TrackedVehicle.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/systems/tracked_vehicle/TrackedVehicle.cc b/src/systems/tracked_vehicle/TrackedVehicle.cc
index 848c672f43..2ed98c585f 100644
--- a/src/systems/tracked_vehicle/TrackedVehicle.cc
+++ b/src/systems/tracked_vehicle/TrackedVehicle.cc
@@ -692,11 +692,11 @@ void TrackedVehiclePrivate::UpdateVelocity(
 
     // radius of the turn the robot is doing
     this->desiredRotationRadiusSigned =
-      (fabs(angVel) < 0.1) ?
+      (fabs(angVel) < 1e-6) ?
       // is driving straight
       math::INF_D :
       (
-        (fabs(linVel) < 0.1) ?
+        (fabs(linVel) < 1e-6) ?
         // is rotating about a single point
         0 :
         // general movement