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rename yaw_r to yaw_ref

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Chachay
2020-03-24 20:12:26 +01:00
parent 6d178e1feb
commit 9b22d3fb88
1 changed files with 2 additions and 2 deletions
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4
PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
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@@ -175,10 +175,10 @@ def simulate(track, goal):
return t, x, y, yaw, v, goal_flag
def calc_target_speed(state, yaw_r):
def calc_target_speed(state, yaw_ref):
target_speed = 10.0 / 3.6
dyaw = yaw_r - state.yaw
dyaw = yaw_ref - state.yaw
switch = math.pi / 4.0 <= dyaw < math.pi / 2.0
if switch: