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Remove unneeded abs for motors thrust in simulation

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This commit is contained in:
Oleg Kalachev 2024-05-24 14:47:26 +03:00
parent fbe33eac1b
commit 1119c77cca
1 changed files with 4 additions and 4 deletions
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8
gazebo/simulator.cpp
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@ -92,10 +92,10 @@ public:
const double maxThrust = 0.03 * ONE_G; // ~30 g, https://youtu.be/VtKI4Pjx8Sk?&t=78
const float scale0 = 1.0, scale1 = 1.1, scale2 = 0.9, scale3 = 1.05; // imitating motors asymmetry
float mfl = scale0 * maxThrust * abs(motors[MOTOR_FRONT_LEFT]);
float mfr = scale1 * maxThrust * abs(motors[MOTOR_FRONT_RIGHT]);
float mrl = scale2 * maxThrust * abs(motors[MOTOR_REAR_LEFT]);
float mrr = scale3 * maxThrust * abs(motors[MOTOR_REAR_RIGHT]);
float mfl = scale0 * maxThrust * motors[MOTOR_FRONT_LEFT];
float mfr = scale1 * maxThrust * motors[MOTOR_FRONT_RIGHT];
float mrl = scale2 * maxThrust * motors[MOTOR_REAR_LEFT];
float mrr = scale3 * maxThrust * motors[MOTOR_REAR_RIGHT];
body->AddLinkForce(Vector3d(0.0, 0.0, mfl), Vector3d(dist, dist, 0.0));
body->AddLinkForce(Vector3d(0.0, 0.0, mfr), Vector3d(dist, -dist, 0.0));