fix: Исправлен oncomming идеальной траектории

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