23 #include "forward_drive_mode.h"
25 #include <utils/math/common.h>
38 : AbstractDriveMode(logger, config)
73 ForwardDriveModule::forward_curvature(
float dist_to_target,
92 ForwardDriveModule::forward_translation(
float dist_to_target,
99 if (fabs(alpha) >= M_PI_2) {
134 float trans_target = 10000.f;
135 float trans_front = 10000.f;
141 if (dist_to_front > 0.f && dist_to_front < dist_to_target)
145 des_trans = std::min(des_trans, std::min(trans_target, trans_front));
188 if (dist_to_target >= 0.04) {
200 if (trans_correction < 1.f) {
202 proposed_.
x *= trans_correction * trans_correction;