safety_limiter: enable omni-directional safety brake #646
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at-wat
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Jul 28, 2022
| out.linear.x = (out.linear.x > 0) ? | ||
| std::min(out.linear.x, max_values_[0]) : | ||
| std::max(out.linear.x, -max_values_[0]); | ||
| const double vel_ratio = max_values_[0] / std::hypot(out.linear.x, out.linear.y); |
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Is it safe when out.linear = { x: 0, y: 0 }? (divide by zero)
Codecov Report
@@ Coverage Diff @@
## master #646 +/- ##
==========================================
+ Coverage 90.21% 90.47% +0.25%
==========================================
Files 61 61
Lines 4548 4556 +8
==========================================
+ Hits 4103 4122 +19
+ Misses 445 434 -11
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at-wat
reviewed
Jul 28, 2022
Comment on lines
630
to
649
| if ((M_PI - threshold_angle) < std::abs(angle)) | ||
| { | ||
| // Moving backward | ||
| obstacle_x += -2.0; | ||
| } | ||
| else if (threshold_angle < std::abs(angle)) | ||
| { | ||
| if (angle > 0) | ||
| { | ||
| // Moving left | ||
| obstacle_x += -1.0; | ||
| obstacle_y += 0.1; | ||
| } | ||
| else | ||
| { | ||
| // Moving right | ||
| obstacle_x += -1.0; | ||
| obstacle_y += -0.1; | ||
| } | ||
| } |
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I think writing absolute values for each direction is easier to read.
| } | ||
| // Otherwise moving forward. | ||
|
|
||
| // 1.0 m/ss, obstacle at 0.5 m: limited to 1.0 m/s |
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Suggested change
| // 1.0 m/ss, obstacle at 0.5 m: limited to 1.0 m/s | |
| // 1.5 m/ss, obstacle at 0.5 m: limited to 1.0 m/s |
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at-wat
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Jul 28, 2022
Co-authored-by: Atsushi Watanabe <atsushi.w@ieee.org>
[217] PASSED on melodicAll tests passed[217] PASSED on noeticAll tests passed |
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