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Commit 4b0dbe27 authored by Enno Maschke's avatar Enno Maschke
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Add units to Algorithm_Route Control steering output & remove conflicting...

Add units to Algorithm_Route Control steering output & remove conflicting declaration of variables from Dynamics_Chassis
parent 31bfb118
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......@@ -169,7 +169,8 @@ void Algorithm_Routecontrol_Implementation::UpdateOutput(int localLinkId,
{
try
{
data = std::make_shared<SteeringSignal const>(outComponentState, outSteeringWheelAngle, GetComponentName());
data = std::make_shared<SteeringSignal const>(
outComponentState, outSteeringWheelAngle * 1_rad, GetComponentName());
}
catch (const std::bad_alloc &)
{
......
......@@ -92,8 +92,6 @@ Dynamics_Chassis_Implementation::Dynamics_Chassis_Implementation(std::string com
const auto wheelBase = vehicleProperties->front_axle.bb_center_to_axle_center.x
- vehicleProperties->rear_axle.bb_center_to_axle_center.x;
const auto lenFront = wheelBase / 2.0;
const auto lenRear = wheelBase - lenFront;
const auto trackWidthFront = vehicleProperties->front_axle.track_width;
const auto trackWidthRear = vehicleProperties->rear_axle.track_width;
units::length::meter_t hCOG, xCOG, yCOG;
......@@ -123,7 +121,7 @@ Dynamics_Chassis_Implementation::Dynamics_Chassis_Implementation(std::string com
}
catch (...)
{
yCOG = 0 * 1_m;
yCOG = 0_m;
}
units::length::meter_t lenFront = wheelBase - xCOG;
......
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