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Describe the bug
in file trajectory_evaluator.cpp, line 136: double evaluation_horizon = std::min(FLAGS_speed_lon_decision_horizon, lon_trajectory->Evaluate(0, lon_trajectory->ParamLength()));
evaluation_horizon should be the s length of lon_trajectory , not the end s of lon_trajectory, so it should be defined like this:
double evaluation_horizon = std::min(FLAGS_speed_lon_decision_horizon,lon_trajectory->Evaluate(0, lon_trajectory->ParamLength())-lon_trajectory->Evaluate(0,0.0));
The text was updated successfully, but these errors were encountered:
Describe the bug
in file trajectory_evaluator.cpp, line 136: double evaluation_horizon = std::min(FLAGS_speed_lon_decision_horizon, lon_trajectory->Evaluate(0, lon_trajectory->ParamLength()));
evaluation_horizon should be the s length of lon_trajectory , not the end s of lon_trajectory, so it should be defined like this:
double evaluation_horizon = std::min(FLAGS_speed_lon_decision_horizon,lon_trajectory->Evaluate(0, lon_trajectory->ParamLength())-lon_trajectory->Evaluate(0,0.0));
The text was updated successfully, but these errors were encountered: