bugfix: max_vel_y >= vy, unless proportional saturation

rst-tu-dortmund · Jun 1, 2022 · 9d91cf2 · 9d91cf2
1 parent de2ecde
commit 9d91cf2
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/teb_local_planner_ros.cpp b/src/teb_local_planner_ros.cpp
@@ -878,7 +878,7 @@ void TebLocalPlannerROS::saturateVelocity(double& vx, double& vy, double& omega,
 
   // limit strafing velocity
   if (vy > max_vel_y || vy < -max_vel_y)
-    ratio_y = std::abs(vy / max_vel_y);
+    ratio_y = std::abs(max_vel_y / vy);
 
   // Limit angular velocity
   if (omega > max_vel_theta || omega < -max_vel_theta)