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ros2: revert value of epsilon used in getClosestPoint #49

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Feb 24, 2024
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ros2: revert value of epsilon used in getClosestPoint #49

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4 changes: 2 additions & 2 deletions terrain_navigation/include/terrain_navigation/path_segment.h
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Original file line number Diff line number Diff line change
Expand Up @@ -164,7 +164,7 @@ class PathSegment {
return theta;
}

double getLength(double epsilon = 0.001) {
double getLength(double epsilon = 1.0E-3) {
double length{0.0};
Eigen::Vector3d segment_start = states.front().position;
Eigen::Vector3d segment_end = states.back().position;
Expand Down Expand Up @@ -198,7 +198,7 @@ class PathSegment {
}

double getClosestPoint(const Eigen::Vector3d &position, Eigen::Vector3d &closest_point, Eigen::Vector3d &tangent,
double &segment_curvature, double epsilon = 0.001) {
double &segment_curvature, double epsilon = 1.0E-4) {
double theta{-std::numeric_limits<double>::infinity()};
segment_curvature = curvature;
Eigen::Vector3d segment_start = states.front().position;
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2 changes: 1 addition & 1 deletion terrain_navigation_ros/src/terrain_planner.cpp
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Expand Up @@ -247,7 +247,7 @@ void TerrainPlanner::cmdloopCallback() {
double reference_curvature{0.0};
auto current_segment = reference_primitive_.getCurrentSegment(vehicle_position_);
double path_progress = current_segment.getClosestPoint(vehicle_position_, reference_position, reference_tangent,
reference_curvature, 1.0);
reference_curvature, 1.0E-4);
// Publish global position setpoints in the global frame
ESPG map_coordinate;
Eigen::Vector3d map_origin;
Expand Down