From af7f0b890854a1821f7dd7089acaff4d2445c0c4 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Sat, 21 May 2022 01:23:22 +0900 Subject: [PATCH] Fix werror of trajectory_follower Signed-off-by: kosuke55 --- control/trajectory_follower/src/mpc_lateral_controller.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/control/trajectory_follower/src/mpc_lateral_controller.cpp b/control/trajectory_follower/src/mpc_lateral_controller.cpp index 262b984712d44..ce97a66b6579b 100644 --- a/control/trajectory_follower/src/mpc_lateral_controller.cpp +++ b/control/trajectory_follower/src/mpc_lateral_controller.cpp @@ -215,7 +215,7 @@ LateralOutput MpcLateralController::run() output.control_cmd = cmd_msg; output.sync_data.is_steer_converged = std::abs(cmd_msg.steering_tire_angle - m_current_steering_ptr->steering_tire_angle) < - m_converged_steer_rad; + static_cast(m_converged_steer_rad); return output; } @@ -234,7 +234,7 @@ LateralOutput MpcLateralController::run() output.control_cmd = cmd_msg; output.sync_data.is_steer_converged = std::abs(cmd_msg.steering_tire_angle - m_current_steering_ptr->steering_tire_angle) < - m_converged_steer_rad; + static_cast(m_converged_steer_rad); return output; } @@ -372,7 +372,7 @@ bool8_t MpcLateralController::isStoppedState() const std::fabs(target_vel) < m_stop_state_entry_target_speed && (!m_check_steer_converged_for_stopped_state || std::abs(m_ctrl_cmd_prev.steering_tire_angle - m_current_steering_ptr->steering_tire_angle) < - m_converged_steer_rad)) { + static_cast(m_converged_steer_rad))) { return true; } else { return false;