fix::Control PathFinderController bug (#1000)

AtsushiSakai · Apr 27, 2024 · 8f84f0f · 8f84f0f
1 parent c12faa6
commit 8f84f0f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/Control/move_to_pose/move_to_pose.py b/Control/move_to_pose/move_to_pose.py
@@ -74,7 +74,7 @@ def calc_control_command(self, x_diff, y_diff, theta, theta_goal):
         alpha = angle_mod(np.arctan2(y_diff, x_diff) - theta)
         beta = angle_mod(theta_goal - theta - alpha)
         v = self.Kp_rho * rho
-        w = self.Kp_alpha * alpha - controller.Kp_beta * beta
+        w = self.Kp_alpha * alpha - self.Kp_beta * beta
 
         if alpha > np.pi / 2 or alpha < -np.pi / 2:
             v = -v