Controller's end phase distance is calculated wrong for backwards motion

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

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Controller's end phase distance is calculated wrong for backwards motion #145

Closed PaulVerhoeckx closed 2 years ago

PaulVerhoeckx commented 2 years ago

d_end_phase (here) can result in negative values if target_x_vel < 0

cesar-lopez-mar commented 2 years ago

I think the issue is not whether d_end_phase is negative but how its value is used. Negative d_end_phase just means that the robot will end it's current phase at a position behind the current position