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rnav BUGFIX: OBSTACLE_SLOW_DOWN_DISTANCE is in normalized distance

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jlblancoc committed Aug 21, 2019
1 parent c32d5b3 commit 24f9598e956074fb5811ba3a5f06dac50e97570e
Showing with 1 addition and 2 deletions.
  1. +1 −2 libs/nav/src/holonomic/CHolonomicFullEval.cpp
@@ -470,8 +470,7 @@ void CHolonomicFullEval::navigate(const NavInput &ni, NavOutput &no) {
// Was: min with obs_clearance too.
const double obs_dist_th =
std::max(options.TOO_CLOSE_OBSTACLE,
(options.OBSTACLE_SLOW_DOWN_DISTANCE / ptg_ref_dist) *
ni.maxObstacleDist);
options.OBSTACLE_SLOW_DOWN_DISTANCE * ni.maxObstacleDist);
double riskFactor = 1.0;
if (obs_dist <= options.TOO_CLOSE_OBSTACLE) {
riskFactor = 0.0;

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