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fix: Исправлен oncomming идеальной траектории

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ermolaev_p 2024-12-27 19:49:08 +03:00
parent 9faa35f514
commit 292958fa2b
1 changed files with 1 additions and 1 deletions
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src/OptAlgorithm/OptTimeCalculator.py
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@ -176,7 +176,7 @@ class OptTimeCalculator(AutoConfigClass):
t5max = (Tfull - v0 / a) / 2 - t1 t5max = (Tfull - v0 / a) / 2 - t1
v1 = v0 + a * t1 v1 = v0 + a * t1
S1 = v0 * t1 + a * t1 * t1 / 2 + v1 * t31 - a * t31 * t31 / 2 S1 = v0 * t1 + a * t1 * t1 / 2 + v1 * t31 - a * t31 * t31 / 2
S2max = Sfull + S1 S2max = -Sfull + S1
t5 = min(t5max, (vmax) / a, sqrt(S2max / a)) t5 = min(t5max, (vmax) / a, sqrt(S2max / a))
t3 = abs(v0) / a + t1 + t5 t3 = abs(v0) / a + t1 + t5
t32 = t5 t32 = t5