From 4501233e21871ed86a5569642f8e5770dadce27b Mon Sep 17 00:00:00 2001 From: kenomo Date: Thu, 21 Oct 2021 19:54:36 +0200 Subject: [PATCH] bugfix: max_vel_y >= vy, unless proportional saturation --- teb_local_planner/src/teb_local_planner_ros.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/teb_local_planner/src/teb_local_planner_ros.cpp b/teb_local_planner/src/teb_local_planner_ros.cpp index 9db68c7d..d5592d2a 100644 --- a/teb_local_planner/src/teb_local_planner_ros.cpp +++ b/teb_local_planner/src/teb_local_planner_ros.cpp @@ -907,7 +907,7 @@ void TebLocalPlannerROS::saturateVelocity(double& vx, double& vy, double& omega, // limit strafing velocity if (vy > max_vel_y || vy < -max_vel_y) - ratio_y = std::abs(vy / max_vel_y); + ratio_y = std::abs(max_vel_y / vy); // Limit angular velocity if (omega > max_vel_theta || omega < -max_vel_theta)