From 8c991912ca07f5d12f1172b36fa2df7a0cea7097 Mon Sep 17 00:00:00 2001 From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com> Date: Wed, 19 Jun 2024 22:27:55 +0200 Subject: [PATCH] [STEERING] Add missing `tan` call for ackermann (#1117) (#1176) (cherry picked from commit b81be48fb1b6101a3c601c0ea11c5393e5a7026e) Co-authored-by: Enrique Llorente Pastora --- steering_controllers_library/src/steering_odometry.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp index e663eddf91..63331f3c17 100644 --- a/steering_controllers_library/src/steering_odometry.cpp +++ b/steering_controllers_library/src/steering_odometry.cpp @@ -123,7 +123,7 @@ bool SteeringOdometry::update_from_velocity( { steer_pos_ = steer_pos; double linear_velocity = traction_wheel_vel * wheel_radius_; - const double angular_velocity = tan(steer_pos) * linear_velocity / wheelbase_; + const double angular_velocity = std::tan(steer_pos) * linear_velocity / wheelbase_; return update_odometry(linear_velocity, angular_velocity, dt); } @@ -136,7 +136,7 @@ bool SteeringOdometry::update_from_velocity( (right_traction_wheel_vel + left_traction_wheel_vel) * wheel_radius_ * 0.5; steer_pos_ = steer_pos; - const double angular_velocity = tan(steer_pos_) * linear_velocity / wheelbase_; + const double angular_velocity = std::tan(steer_pos_) * linear_velocity / wheelbase_; return update_odometry(linear_velocity, angular_velocity, dt); } @@ -148,7 +148,7 @@ bool SteeringOdometry::update_from_velocity( steer_pos_ = (right_steer_pos + left_steer_pos) * 0.5; double linear_velocity = (right_traction_wheel_vel + left_traction_wheel_vel) * wheel_radius_ * 0.5; - const double angular_velocity = steer_pos_ * linear_velocity / wheelbase_; + const double angular_velocity = std::tan(steer_pos_) * linear_velocity / wheelbase_; return update_odometry(linear_velocity, angular_velocity, dt); }