From 1939933f674fa7d59562b210e9abe21dc7bfddf0 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 26 Aug 2024 12:07:48 +0900 Subject: [PATCH] fix(simple_planning_simulator): fix acc output for the model sim_model_delay_steer_acc_geared_wo_fall_guard (#8607) fix acceleration output Signed-off-by: Yuki Takagi --- .../sim_model_delay_steer_acc_geared_wo_fall_guard.hpp | 1 + .../sim_model_delay_steer_acc_geared_wo_fall_guard.cpp | 4 +++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp index d7a6a8284d704..5d9c3ec74115a 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp @@ -64,6 +64,7 @@ class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface VX, STEER, PEDAL_ACCX, + ACCX, }; enum IDX_U { PEDAL_ACCX_DES = 0, GEAR, SLOPE_ACCX, STEER_DES }; diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp index c699d704724f5..69a311b780ad8 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp @@ -64,7 +64,7 @@ double SimModelDelaySteerAccGearedWoFallGuard::getVy() } double SimModelDelaySteerAccGearedWoFallGuard::getAx() { - return state_(IDX::PEDAL_ACCX); + return state_(IDX::ACCX); } double SimModelDelaySteerAccGearedWoFallGuard::getWz() { @@ -103,6 +103,8 @@ void SimModelDelaySteerAccGearedWoFallGuard::update(const double & dt) // stop condition is satisfied state_(IDX::VX) = 0.0; } + + state_(IDX::ACCX) = (state_(IDX::VX) - prev_state(IDX::VX)) / dt; } void SimModelDelaySteerAccGearedWoFallGuard::initializeInputQueue(const double & dt)