fix(mpc): precise resampling around ego for stabling control (#5003) #857
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…efoundation#5003) * fix(mpc): precise resampling around ego Signed-off-by: Takayuki Murooka <[email protected]> * update Signed-off-by: Takayuki Murooka <[email protected]> * update test Signed-off-by: Takayuki Murooka <[email protected]> * Update control/mpc_lateral_controller/src/mpc_utils.cpp Co-authored-by: Takamasa Horibe <[email protected]> * Update control/mpc_lateral_controller/src/mpc_utils.cpp Co-authored-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>
TakaHoribe
approved these changes
Sep 21, 2023
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https://tier4.atlassian.net/browse/RT0-28891
cherry-pick of autowarefoundation#5003
低速時でのステアのガタツキ軽減
fix(mpc): precise resampling around ego
update
update test
Update control/mpc_lateral_controller/src/mpc_utils.cpp
Update control/mpc_lateral_controller/src/mpc_utils.cpp