Skip to content
Snippets Groups Projects

Update to MantleAPI 5.0.0 and setting internal movement domain for FollowTrajectoryControlStrategy depending on timeReference

Merged Raghunandan Netrapalli Madhusudhan requested to merge update-to-mantle-api-5.0.0 into develop
Files
8
@@ -323,6 +323,10 @@ DynamicsInformation DynamicsScenarioImplementation::ReadWayPointData()
@@ -323,6 +323,10 @@ DynamicsInformation DynamicsScenarioImplementation::ReadWayPointData()
for (auto iterCurr = trajectory.begin(); iterCurr != trajectory.end(); ++iterCurr)
for (auto iterCurr = trajectory.begin(); iterCurr != trajectory.end(); ++iterCurr)
{
{
 
if (!iterCurr->time.has_value())
 
{
 
LOGERRORANDTHROW("Time is not set")
 
}
if (iterCurr->time.value() >= timeLateralStrategy - TIME_EPSILON)
if (iterCurr->time.value() >= timeLateralStrategy - TIME_EPSILON)
{
{
auto iterPrev = std::prev(iterCurr);
auto iterPrev = std::prev(iterCurr);
@@ -426,4 +430,4 @@ DynamicsInformation DynamicsScenarioImplementation::CalculateTrajectoryWithExter
@@ -426,4 +430,4 @@ DynamicsInformation DynamicsScenarioImplementation::CalculateTrajectoryWithExter
info.centripetalAcceleration = units::inverse_radian(1) * info.yawRate * velocity;
info.centripetalAcceleration = units::inverse_radian(1) * info.yawRate * velocity;
return info;
return info;
}
}
\ No newline at end of file
Loading