23 #include "backward_drive_mode.h"
25 #include <utils/math/angle.h>
26 #include <utils/math/common.h>
39 : AbstractDriveMode(logger, config)
75 BackwardDriveModule::backward_curvature(
float dist_to_target,
94 BackwardDriveModule::backward_translation(
float dist_to_target,
101 float des_trans = 0.f;
103 if (fabs(des_rot) >= 0.f && fabs(des_rot) <= 1.f)
106 else if (fabs(des_rot) > 1.f)
107 des_trans =
lin_interpol(fabs(des_rot), M_PI, 1.f, 0.f, 0.7f);
130 float trans_target = 10000.f;
131 float trans_front = 10000.f;
137 if (dist_to_front < dist_to_target)
141 des_trans = std::min(des_trans, std::min(trans_target, trans_front));
185 if (fabs(alpha) <= M_PI_2 + 0.1f)
191 if (dist_to_target >= 0.04f) {