Fixes

vortexntnu · Apr 14, 2024 · 07ca0bb · 07ca0bb
1 parent c1efa5b
commit 07ca0bb
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/motion/hybridpath_controller/hybridpath_controller/adaptive_backstep.py b/motion/hybridpath_controller/hybridpath_controller/adaptive_backstep.py
@@ -57,7 +57,7 @@ def control_law(self, state: Odometry, reference: HybridpathReference) -> np.nda
         return tau
 
     @staticmethod
-    def calculate_coriolis_matrix(nu): 
+    def calculate_coriolis_matrix(nu: np.ndarray) -> np.ndarray: 
         """
         Returns the Coriolis matrix times the velocity vector nu.
         """
@@ -123,4 +123,5 @@ def odom_to_state(msg: Odometry) -> np.ndarray:
         r = msg.twist.twist.angular.z 
 
         state = np.array([x, y, yaw, u, v, r])
+
         return state