Question about the dynamic function in Ackerman steering model

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Question about the dynamic function in Ackerman steering model #363

Closed MARMOTatZJU closed 2 years ago

MARMOTatZJU commented 2 years ago

In the following lines of the dynamic function, why the step interval of the dynamic system is not shown (e.g. step interval == 0,1 in case where the dynamic function steps at 10 Hz)?

https://github.com/lyft/l5kit/blob/4dc4ee5391479bb71f0b373f39c316f9eef5a961/l5kit/l5kit/kinematic/ackerman_steering_model.py#L144-L147

yawei-ye commented 2 years ago

Hi, good question. Here the unit for v, steer acc are per step, this is why we do not need to consider the frequency e.g: [v] = meter per step