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fix

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cyy_mac
2026-03-27 06:00:43 +08:00
parent 6d6183620a
commit 7614d26c55
1 changed files with 3 additions and 0 deletions
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src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
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@@ -295,6 +295,9 @@ void MpcPlanner::setupProblem() {
} }
GimbalState MpcPlanner::plan(const TargetInfo& target, double dt) { GimbalState MpcPlanner::plan(const TargetInfo& target, double dt) {
// Setup problem constraints and weights
setupProblem();
int N = N_; int N = N_;
double total_time = params_.sample_total_time; double total_time = params_.sample_total_time;
double time_step = total_time / N; double time_step = total_time / N;