From 0b1e2f0034e04637260646991a78f9b21d76c9e7 Mon Sep 17 00:00:00 2001 From: Dawid Moszynski Date: Tue, 5 Nov 2024 22:24:13 +0100 Subject: [PATCH] Revert "fix(simple_sensor_simulator): fix ego overwrite for DELAY_STEER_ACC_GEARED_WO_FALL_GUARD" This reverts commit 61132540a2ca1ea88382ff189f5be2b25b2d0680. --- .../src/vehicle_simulation/ego_entity_simulation.cpp | 12 +----------- 1 file changed, 1 insertion(+), 11 deletions(-) diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp index 0122af1c56d..faec85996da 100644 --- a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp +++ b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp @@ -267,19 +267,9 @@ auto EgoEntitySimulation::overwrite( }(); switch (auto state = Eigen::VectorXd(vehicle_model_ptr_->getDimX()); vehicle_model_type_) { - case VehicleModelType::DELAY_STEER_ACC_GEARED_WO_FALL_GUARD: - // state{X, Y, YAW, VX, STEER, PEDAL_ACCX, ACCX} - state(0) = world_relative_position_.x(); - state(1) = world_relative_position_.y(); - state(2) = yaw; - state(3) = status.action_status.twist.linear.x; - state(4) = 0; - state(5) = 0; - state(6) = status.action_status.accel.linear.x; - vehicle_model_ptr_->setState(state); - break; case VehicleModelType::DELAY_STEER_ACC: case VehicleModelType::DELAY_STEER_ACC_GEARED: + case VehicleModelType::DELAY_STEER_ACC_GEARED_WO_FALL_GUARD: case VehicleModelType::DELAY_STEER_MAP_ACC_GEARED: state(5) = status.action_status.accel.linear.x; [[fallthrough]];