fix mistake in jerk limit (diff_drive_controller)

ros-controls · Nov 28, 2018 · 4f09a81 · 4f09a81
1 parent 3512c3a
commit 4f09a81
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/diff_drive_controller/src/speed_limiter.cpp b/diff_drive_controller/src/speed_limiter.cpp
@@ -121,7 +121,7 @@ namespace diff_drive_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;