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Questions regarding lateral acceleration gradient derivation #19

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mamariomiamo opened this issue Sep 13, 2024 · 0 comments

mamariomiamo commented Sep 13, 2024

Hi, I am not sure if the following gradient is derived accurately?
It seems to suppose to have 3 terms but there are only 2 terms. The 2 terms are also seem to be slightly off.
The corresponding equations in paper is (20) and (21b)
https://github.com/ZJU-FAST-Lab/Dftpav/blob/main/src/Plan/traj_planner/src/traj_optimizer.cpp#L671-L672

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