From f083fd2ccdb5a836da262ce844b9a11d3353e2d8 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 15 Jun 2023 10:13:05 +0900 Subject: [PATCH] chore(mpc): add default value (#3976) * chore(mpc): add default value Signed-off-by: Takamasa Horibe * fix precommit Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../include/mpc_lateral_controller/mpc.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp index 04c0cc435860a..0d144726a0866 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp @@ -412,9 +412,9 @@ class MPC //!< @brief steering rate limit list depending on velocity [m/s], [rad/s] std::vector> m_steer_rate_lim_map_by_velocity{}; - bool m_use_steer_prediction; // Flag to use predicted steer instead of measured steer. - double ego_nearest_dist_threshold; // Threshold for nearest index search based on distance. - double ego_nearest_yaw_threshold; // Threshold for nearest index search based on yaw. + bool m_use_steer_prediction; // Flag to use predicted steer instead of measured steer. + double ego_nearest_dist_threshold = 3.0; // Threshold for nearest index search based on distance. + double ego_nearest_yaw_threshold = M_PI_2; // Threshold for nearest index search based on yaw. //!< Constructor. MPC() = default;