safety_limiter: allow escape motion from collision #221
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[#605] FAILED on indigoTest failed[#605] FAILED on kineticTest failed[#605] FAILED on lunarTest failed |
at-wat
changed the title
Codecov Report
@@ Coverage Diff @@
## master #221 +/- ##
==========================================
+ Coverage 55.44% 55.56% +0.12%
==========================================
Files 49 49
Lines 3979 3988 +9
==========================================
+ Hits 2206 2216 +10
+ Misses 1773 1772 -1
Continue to review full report at Codecov.
|
at-wat
commented
Sep 11, 2018
| yaw_col += twist_.angular.z * dt_; | ||
| move = move * motion; | ||
| move_inv = move_inv * motion_inv; | ||
| if (t != 0) |
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This part was a bug that estimates collision distance bit larger than actual.
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that's true. are you gonna fix the bug separately from this PR?
[#606] PASSED on indigoAll tests passed[#606] PASSED on lunarAll tests passed |
ykoga-kyutech
approved these changes
Sep 11, 2018
| yaw_col += twist_.angular.z * dt_; | ||
| move = move * motion; | ||
| move_inv = move_inv * motion_inv; | ||
| if (t != 0) |
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that's true. are you gonna fix the bug separately from this PR?
| } | ||
| if (colliding) | ||
| { | ||
| if (t == 0) |
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this is not a part of the above bug, but an impl. of collision escaping logic.
| } | ||
| if (d_escape_remain <= 0 || yaw_escape_remain <= 0) | ||
| { | ||
| if (has_collision_at_now) |
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preferably, I'd like to add {} here.
DaikiMaekawa
approved these changes
Sep 12, 2018
[#608] PASSED on indigoAll tests passed[#608] PASSED on lunarAll tests passed[#608] PASSED on kineticAll tests passed |
[#610] PASSED on indigoAll tests passed[#610] PASSED on kineticAll tests passed[#610] PASSED on lunarAll tests passed |
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merge after #222