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ibis-ssl · Oct 12, 2024 · de50729 · de50729
1 parent b4dd12e
commit de50729
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/crane_local_planner/src/rvo2_planner.cpp b/crane_local_planner/src/rvo2_planner.cpp
@@ -146,8 +146,8 @@ void RVO2Planner::reflectWorldToRVOSim(const crane_msgs::msg::RobotCommands & ms
         // double max_vel_by_decel = std::sqrt(2.0 * deceleration * target_vel.norm());
         // PIDによる速度制限（減速のみ）
         double max_vel_by_decel = [&]() {
-          double pid_vx = vx_controllers[command.robot_id].update(target_vel.x(), 1./30.);
-          double pid_vy = vy_controllers[command.robot_id].update(target_vel.y(), 1./30.);
+          double pid_vx = vx_controllers[command.robot_id].update(target_vel.x(), 1. / 30.);
+          double pid_vy = vy_controllers[command.robot_id].update(target_vel.y(), 1. / 30.);
           return std::hypot(pid_vx, pid_vy);
         }();