From 308820b68a8e05708375c11853db4395b40bd6cf Mon Sep 17 00:00:00 2001 From: beyza Date: Fri, 7 Jul 2023 18:40:19 +0300 Subject: [PATCH] replace rear and front circle_radius_rate Signed-off-by: beyza --- planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp index eff2a653f39e2..15210b267befb 100644 --- a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp +++ b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp @@ -451,8 +451,8 @@ void MPTOptimizer::updateVehicleCircles() std::tie(vehicle_circle_radiuses_, vehicle_circle_longitudinal_offsets_) = calcVehicleCirclesByBicycleModel( vehicle_info_, p.vehicle_circles_bicycle_model_num, - p.vehicle_circles_bicycle_model_front_radius_ratio, - p.vehicle_circles_bicycle_model_rear_radius_ratio); + p.vehicle_circles_bicycle_model_rear_radius_ratio, + p.vehicle_circles_bicycle_model_front_radius_ratio); } else if (p.vehicle_circles_method == "fitting_uniform_circle") { std::tie(vehicle_circle_radiuses_, vehicle_circle_longitudinal_offsets_) = calcVehicleCirclesByFittingUniformCircle(