[STEERING] Add missing tan call for ackermann

qinqon · qinqon · commit b505bc64a8e4 · 2024-06-10T21:44:41.000+02:00
Signed-off-by: Quique Llorente &lt;ellorent@redhat.com&gt;
diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -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 = tan(steer_pos_) * linear_velocity / wheelbase_;
 
   return update_odometry(linear_velocity, angular_velocity, dt);
 }

Original file line number	Diff line number	Diff line change
`@@ -148,7 +148,7 @@ bool SteeringOdometry::update_from_velocity(`
`148`	`148`	`steer_pos_ = (right_steer_pos + left_steer_pos) * 0.5;`
`149`	`149`	`double linear_velocity =`
`150`	`150`	`(right_traction_wheel_vel + left_traction_wheel_vel) * wheel_radius_ * 0.5;`
`151`		`- const double angular_velocity = steer_pos_ * linear_velocity / wheelbase_;`
	`151`	`+ const double angular_velocity = tan(steer_pos_) * linear_velocity / wheelbase_;`
`152`	`152`
`153`	`153`	`return update_odometry(linear_velocity, angular_velocity, dt);`
`154`	`154`	`}`