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brkay54 committed Sep 18, 2023
1 parent 0986686 commit ff59f87
Showing 1 changed file with 1 addition and 2 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -991,8 +991,7 @@ double PidLongitudinalController::applyVelocityFeedback(const ControlData & cont
constexpr double ff_scale_max = 2.0; // for safety
constexpr double ff_scale_min = 0.5; // for safety
const double ff_scale = std::clamp(
1.0 + (abs(current_target_vel_abs - current_vel_abs) /
std::max(current_target_vel_abs, 0.1)),
1.0 + (abs(current_target_vel_abs - current_vel_abs) / std::max(current_target_vel_abs, 0.1)),
ff_scale_min, ff_scale_max);

const double ff_acc =
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