From befbc35cdebd05d7a37a8eea90519fcfb1d8add6 Mon Sep 17 00:00:00 2001 From: Thibault Poignonec Date: Mon, 25 Nov 2024 16:28:23 +0100 Subject: [PATCH] fix jerk limiter --- diff_drive_controller/src/speed_limiter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/diff_drive_controller/src/speed_limiter.cpp b/diff_drive_controller/src/speed_limiter.cpp index 0f82c2cc3b..247a816962 100644 --- a/diff_drive_controller/src/speed_limiter.cpp +++ b/diff_drive_controller/src/speed_limiter.cpp @@ -123,7 +123,7 @@ double SpeedLimiter::limit_jerk(double & v, double v0, double v1, double dt) const double dv = v - v0; const double dv0 = v0 - v1; - const double dt2 = 2. * dt * dt; + const double dt2 = dt * dt; const double da_min = min_jerk_ * dt2; const double da_max = max_jerk_ * dt2;