Signed-off-by: Berkay Karaman <brkay54@gmail.com>

autowarefoundation · Aug 22, 2023 · 80b9f4c · 80b9f4c
1 parent 32c45f9
commit 80b9f4c
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -463,8 +463,9 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
       target_interpolated_point.first);
   }
 
-  std::cout << control_data.state_after_delay.running_distance << " " << control_data.nearest_idx
-            << " " << control_data.target_idx << std::endl;
+  //  std::cout << control_data.state_after_delay.running_distance << " " <<
+  //  control_data.nearest_idx
+  //            << " " << control_data.target_idx << std::endl;
   // calculate the predicted velocity in the target point
   m_debug_values.setValues(DebugValues::TYPE::PREDICTED_VEL, control_data.state_after_delay.vel);
   m_debug_values.setValues(
@@ -537,9 +538,8 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
     m_last_running_time = std::make_shared<rclcpp::Time>(node_->now());
   }
   const bool stopped_condition =
-    m_last_running_time
-      ? (node_->now() - *m_last_running_time).seconds() > p.stopped_state_entry_duration_time
-      : false;
+    m_last_running_time &&
+    (node_->now() - *m_last_running_time).seconds() > p.stopped_state_entry_duration_time;
 
   static constexpr double vel_epsilon =
     1e-3;  // NOTE: the same velocity threshold as motion_utils::searchZeroVelocity