doc: add memos to code

Signed-off-by: Kotaro Yoshimoto <[email protected]>
tier4 · Jan 31, 2024 · 66e9e77 · 66e9e77
1 parent c37bb71
commit 66e9e77
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/external/concealer/src/autoware_universe.cpp b/external/concealer/src/autoware_universe.cpp
@@ -156,6 +156,8 @@ auto AutowareUniverse::getGearCommand() const -> autoware_auto_vehicle_msgs::msg
 auto AutowareUniverse::getGearSign() const -> double
 {
   using autoware_auto_vehicle_msgs::msg::GearCommand;
+  // TODO: Add support for GearCommand::NONE to return 0.0
+  // ref: https://github.com/autowarefoundation/autoware.universe/blob/main/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp#L475
   return getGearCommand().command == GearCommand::REVERSE or
              getGearCommand().command == GearCommand::REVERSE_2
            ? -1.0

diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
@@ -105,8 +105,8 @@ auto EgoEntitySimulation::makeSimulationModel(
   const auto steer_time_delay           = getParameter<double>("steer_time_delay",            0.24);
   const auto vel_lim                    = getParameter<double>("vel_lim",                     parameters.performance.max_speed);  // 50.0
   const auto vel_rate_lim               = getParameter<double>("vel_rate_lim",                parameters.performance.max_acceleration);  // 7.0
-  const auto vel_time_constant          = getParameter<double>("vel_time_constant",           0.1);
-  const auto vel_time_delay             = getParameter<double>("vel_time_delay",              0.1);
+  const auto vel_time_constant          = getParameter<double>("vel_time_constant",           0.1);  // 0.5 is default value on simple_planning_simulator
+  const auto vel_time_delay             = getParameter<double>("vel_time_delay",              0.1);  // 0.25 is default value on simple_planning_simulator
   const auto wheel_base                 = getParameter<double>("wheel_base",                  parameters.axles.front_axle.position_x - parameters.axles.rear_axle.position_x);
   // clang-format on