From bce82820aa4eb7e131cb45a672a77b741f6d02e6 Mon Sep 17 00:00:00 2001 From: Saurabh Kamat Date: Fri, 22 Mar 2024 20:29:21 +0800 Subject: [PATCH] Fixed turning error in ackermann steering Signed-off-by: Saurabh Kamat --- src/systems/ackermann_steering/AckermannSteering.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc index 3fe8a5f60d..0d468916e5 100644 --- a/src/systems/ackermann_steering/AckermannSteering.cc +++ b/src/systems/ackermann_steering/AckermannSteering.cc @@ -968,11 +968,11 @@ void AckermannSteeringPrivate::UpdateAngle( double leftSteeringJointAngle = atan((2.0 * this->wheelBase * sin(ang)) / \ - ((2.0 * this->wheelBase * cos(ang)) + \ + ((2.0 * this->wheelBase * cos(ang)) - \ (1.0 * this->wheelSeparation * sin(ang)))); double rightSteeringJointAngle = atan((2.0 * this->wheelBase * sin(ang)) / \ - ((2.0 * this->wheelBase * cos(ang)) - \ + ((2.0 * this->wheelBase * cos(ang)) + \ (1.0 * this->wheelSeparation * sin(ang)))); auto leftSteeringPos = _ecm.Component(