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Fix bug in RK4 integration #52

Merged
merged 1 commit into from
Dec 1, 2022
Merged

Fix bug in RK4 integration #52

merged 1 commit into from
Dec 1, 2022

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abhaybd
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@abhaybd abhaybd commented Dec 1, 2022

The 3rd step of RK4 integration used k2_state instead of the newly computed k3_state. This PR fixes this bug.

nandantumu
nandantumu reviewed Dec 1, 2022
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Good catch!

@hzheng40 hzheng40 added the bug Something isn't working label Dec 1, 2022
@hzheng40 hzheng40 merged commit 1fa8d3a into f1tenth:main Dec 1, 2022
@abhaybd abhaybd mentioned this pull request Dec 3, 2022
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@hzheng40 hzheng40 hzheng40 approved these changes

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@abhaybd @nandantumu @hzheng40