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fix a bug

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Atsushi Sakai
2019-03-11 23:00:08 +09:00
parent 94e03e1e53
commit b94518bc1b
1 changed files with 1 additions and 1 deletions
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PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
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@@ -101,7 +101,7 @@ def get_linear_model_matrix(v, phi, delta):
C = np.zeros(NX)
C[0] = DT * v * math.sin(phi) * phi
C[1] = - DT * v * math.cos(phi) * phi
C[3] = - v * delta / (WB * math.cos(delta) ** 2)
C[3] = - DT * v * delta / (WB * math.cos(delta) ** 2)
return A, B, C