Thank you for your amazing work sharing this simulator with the world!
I was looking around the Navigation plugin for Gazebo simulator and I have noticed that there might be an error when calculating the duration for the control fluctuation.
|
assert(std::abs(freq > EPS)); |
The assertion assert(std::abs(freq > EPS)) checks that the absolute value of the boolean expression freq > EPS is true.
However, as written, it's taking the absolute value of a boolean result, which will always be either 0 or 1.
I think that it should likely be assert(std::abs(freq) > EPS) to check that the absolute value of the frequency itself is greater than the epsilon threshold.
Is there any reason, why the std::abs is applied to both freq > EPS?
Thank you in advance for your replay and your valuable time.
Thank you for your amazing work sharing this simulator with the world!
I was looking around the Navigation plugin for Gazebo simulator and I have noticed that there might be an error when calculating the duration for the control fluctuation.
int-ball2_simulator/Int-Ball2_platform_simulator/src/platform_sim/simulation/plugins/nav/src/nav.cpp
Line 677 in c68b7e7
The assertion
assert(std::abs(freq > EPS))checks that the absolute value of the boolean expressionfreq > EPSis true.However, as written, it's taking the absolute value of a boolean result, which will always be either 0 or 1.
I think that it should likely be
assert(std::abs(freq) > EPS)to check that the absolute value of the frequency itself is greater than the epsilon threshold.Is there any reason, why the
std::absis applied to bothfreq > EPS?Thank you in advance for your replay and your valuable time.