fix mistake in jerk limit

ros-controls · Nov 28, 2018 · 3512c3a · 3512c3a
1 parent 723c4e9
commit 3512c3a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/four_wheel_steering_controller/src/speed_limiter.cpp b/four_wheel_steering_controller/src/speed_limiter.cpp
@@ -115,7 +115,7 @@ namespace four_wheel_steering_controller
       const double dv  = v  - v0;
       const double dv0 = v0 - v1;
 
-      const double dt2 = 2. * dt * dt;
+      const double dt2 = dt * dt;
 
       const double da_min = min_jerk * dt2;
       const double da_max = max_jerk * dt2;