From 4b0dbe27507cb5536b59d93d236fce5f15c6fd1d Mon Sep 17 00:00:00 2001
From: Jan Enno Maschke <jan.enno.maschke1@volkswagen.de>
Date: Fri, 20 Oct 2023 10:46:32 +0200
Subject: [PATCH] Add units to Algorithm_Route Control steering output & remove
conflicting declaration of variables from Dynamics_Chassis
---
.../algorithm_RouteControl_implementation.cpp | 3 ++-
.../Dynamics_Chassis/dynamics_Chassis_implementation.cpp | 4 +---
2 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.cpp b/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.cpp
index 78d31020f..865c84ce2 100644
--- a/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.cpp
+++ b/sim/src/components/Algorithm_Routecontrol/algorithm_RouteControl_implementation.cpp
@@ -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 &)
{
diff --git a/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.cpp b/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.cpp
index 1ab7bddf2..e505909be 100644
--- a/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.cpp
+++ b/sim/src/components/Dynamics_Chassis/dynamics_Chassis_implementation.cpp
@@ -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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