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Add longitudinal camera offset #551

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Gernby commented Mar 6, 2019

This enhancement is part of a large group of enhancements included in a different PR. I realized that it would be easier to understand and evaluate the merits of each individual enhancement before that PR is completed. I'll be submitting many more over the next few days.

This is a simple adjustment to the future state calculation in pathplanner.py to allow for adjusting the turning characteristics of a vehicle at lower speeds. Vehicles with long wheelbases with windshields set further back in the chassis have a tendency to under-steer at low speeds. This enhancement allows for a value (in meters) to be determined for each vehicle to eliminate that problem. For my 2018 Honda Accord, I found that 1.0 meters was ideal.

Gernby added some commits Jan 10, 2019

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Gernby commented Mar 11, 2019

After careful review of my lateral control logic, I think this particular component is unnecessary.

@Gernby Gernby closed this Mar 11, 2019

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