From f6ec10f3996472740b26182ae6d061fa328299d2 Mon Sep 17 00:00:00 2001 From: Zhe Shen Date: Wed, 5 Jun 2024 11:01:25 +0900 Subject: [PATCH] correct a typo Signed-off-by: Zhe Shen --- control/mpc_lateral_controller/src/mpc.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/control/mpc_lateral_controller/src/mpc.cpp b/control/mpc_lateral_controller/src/mpc.cpp index 373de2e0bd911..d2e064eda22ad 100644 --- a/control/mpc_lateral_controller/src/mpc.cpp +++ b/control/mpc_lateral_controller/src/mpc.cpp @@ -244,7 +244,7 @@ void MPC::setReferenceTrajectory( void MPC::resetPrevResult(const SteeringReport & current_steer) { - // Consider limit. The prev value larger than limitation brakes the optimization constraint and + // Consider limit. The prev value larger than limitation breaks the optimization constraint and // results in optimization failure. const float steer_lim_f = static_cast(m_steer_lim); m_raw_steer_cmd_prev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f);