search

TUMFTM / global_racetrajectory_optimization

This repository contains multiple approaches for generating global racetrajectories.
GNU Lesser General Public License v3.0
457 stars 188 forks source link

ax_neg_safe parameter has same effect as ax_pos_safe parameter due to squaring #7

Closed gre-42 closed 2 years ago

gre-42 commented 2 years ago

The parameters ax_pos_safe and ax_neg_safe are both squared (see code below), meaning that the sign of ax_neg_safe is thrown away. ax_neg_safe therefore behaves identically to ax_pos_safe.

https://github.com/TUMFTM/global_racetrajectory_optimization/blob/a9995e2f5407f22eb7fb9dceac2b71a35276bb41/opt_mintime_traj/src/opt_mintime.py#L781-L784

gre-42 commented 2 years ago

I just saw the fmaxand fmin difference in both equations, closing the issue because it is therefore invalid.