From 6b52ad562b2f329995a6785d034746241cf6b348 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Wed, 31 Jan 2024 12:00:23 +0300 Subject: [PATCH] Minor const clarification --- gazebo/simulator.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp index 9591960..b1ffd46 100644 --- a/gazebo/simulator.cpp +++ b/gazebo/simulator.cpp @@ -101,7 +101,7 @@ public: body->AddLinkForce(Vector3d(0.0, 0.0, mrr), Vector3d(-dist, -dist, 0.0)); // torque - const double maxTorque = 0.0024; // 24 g*cm ≈ 24 mN*m + const double maxTorque = 0.0024 * ONE_G; // ~24 g*cm body->AddRelativeTorque(Vector3d(0.0, 0.0, scale0 * maxTorque * motors[MOTOR_FRONT_LEFT])); body->AddRelativeTorque(Vector3d(0.0, 0.0, scale1 * -maxTorque * motors[MOTOR_FRONT_RIGHT])); body->AddRelativeTorque(Vector3d(0.0, 0.0, scale2 * -maxTorque * motors[MOTOR_REAR_LEFT]));