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fix(simple_planning_simulator): fix ego sign pitch problem #5616

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merged 3 commits into from
Nov 20, 2023
Merged

fix(simple_planning_simulator): fix ego sign pitch problem #5616

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f1a3b8f
fix ego sign pitch problem
danielsanchezaran Nov 17, 2023
913a43b
change variable name for clarity
danielsanchezaran Nov 17, 2023
d0373e1
update documentation to clarify that driving against the lane is not …
danielsanchezaran Nov 17, 2023
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2 changes: 2 additions & 0 deletions simulator/simple_planning_simulator/README.md
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Expand Up @@ -96,6 +96,8 @@ Ego vehicle pitch angle is calculated in the following manner.

![pitch calculation](./media/pitch-calculation.drawio.svg)

NOTE: driving against the line direction (as depicted in image's bottom row) is not supported and only shown for illustration purposes.

## Error detection and handling

The only validation on inputs being done is testing for a valid vehicle model type.
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5 changes: 3 additions & 2 deletions ...imple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
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Expand Up @@ -327,8 +327,9 @@ void SimplePlanningSimulator::on_timer()

// calculate longitudinal acceleration by slope
constexpr double gravity_acceleration = -9.81;
const double ego_pitch_angle = enable_road_slope_simulation_ ? calculate_ego_pitch() : 0.0;
const double acc_by_slope = gravity_acceleration * std::sin(ego_pitch_angle);
const double ego_pitch_angle = calculate_ego_pitch();
const double slope_angle = enable_road_slope_simulation_ ? -ego_pitch_angle : 0.0;
const double acc_by_slope = gravity_acceleration * std::sin(slope_angle);

// update vehicle dynamics
{
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