From b681e9c8f50546739df318594b58ca0e8db82806 Mon Sep 17 00:00:00 2001 From: mark Date: Fri, 12 Apr 2024 18:50:21 +0800 Subject: [PATCH] [Core] fix bug of CircleRun --- Core/tactics/skill/CircleRun.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Core/tactics/skill/CircleRun.cpp b/Core/tactics/skill/CircleRun.cpp index b4b17a9..16deab0 100644 --- a/Core/tactics/skill/CircleRun.cpp +++ b/Core/tactics/skill/CircleRun.cpp @@ -39,7 +39,7 @@ CPlayerCommand* CCircleRun::execute(const CVisionModule* pVision){ const CVector localVel = meVel + dv; - const double limitTargetRotVel = targetRotVel*localVel.mod()/targetVelMod; + const double limitTargetRotVel = std::abs(targetVelMod > 0.1) ? targetRotVel*localVel.mod()/targetVelMod : targetRotVel; const double dRotVel = std::clamp(limitTargetRotVel - meRotVel, -MAX_ROT_ACC/PARAM::Vision::FRAME_RATE, MAX_ROT_ACC/PARAM::Vision::FRAME_RATE); const double rotVel = meRotVel + dRotVel;