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Fix Code Style On pid_error #2343

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merged 1 commit into from
Feb 17, 2025
Merged

Fix Code Style On pid_error #2343

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5 changes: 2 additions & 3 deletions soccer/src/soccer/control/motion_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,8 +79,8 @@ MotionControl::MotionControl(int shell_id, rclcpp::Node* node)
node->create_publisher<std_msgs::msg::Float64>("debug/motion_control/pose_error_x", 10);
error_y_pub_ =
node->create_publisher<std_msgs::msg::Float64>("debug/motion_control/pose_error_y", 10);
error_heading_pub_ =
node->create_publisher<std_msgs::msg::Float64>("debug/motion_control/pose_error_heading", 10);
error_heading_pub_ = node->create_publisher<std_msgs::msg::Float64>(
"debug/motion_control/pose_error_heading", 10);
}

void MotionControl::run(const RobotState& state, const planning::Trajectory& trajectory,
Expand Down Expand Up @@ -151,7 +151,6 @@ void MotionControl::run(const RobotState& state, const planning::Trajectory& tra
error_heading_pub_->publish(error_heading_msg);
}


correction = Twist(position_x_controller_.run(static_cast<float>(error.position().x())),
position_y_controller_.run(static_cast<float>(error.position().y())),
angle_controller_.run(static_cast<float>(error.heading())));
Expand Down