Open lewie-donckers opened 2 years ago
@cesar-lopez-mar Could you shine your light on this?
We definitely should not use z components, unless we explicitly support also commands outside of the plane, which we do not want imo.
I agree with @cesar-lopez-mar, this planner is 2D only.
But as odometry input might be 3 dimensional, a z (or roll/pitch) component might be present.
So a test might actually be that the controller input is the same regardless of z value. (This sounds trivial if you strip all z-related stuff from the repository. But we do transformations which might take this into account under the hood.
While working on unit tests for
Controller::distToSegmentSquared()
I noticed that the z-component of the inputs is ignored in some calculations but not in all.I doubt that this is intended; it looks like a bug but perhaps someone can shed some light on this: