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Minor const clarification

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This commit is contained in:
Oleg Kalachev 2024-01-31 12:00:23 +03:00
parent 69cfc9e5fa
commit 6b52ad562b
1 changed files with 1 additions and 1 deletions
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gazebo/simulator.cpp
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@ -101,7 +101,7 @@ public:
body->AddLinkForce(Vector3d(0.0, 0.0, mrr), Vector3d(-dist, -dist, 0.0)); body->AddLinkForce(Vector3d(0.0, 0.0, mrr), Vector3d(-dist, -dist, 0.0));
// torque // 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, 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, scale1 * -maxTorque * motors[MOTOR_FRONT_RIGHT]));
body->AddRelativeTorque(Vector3d(0.0, 0.0, scale2 * -maxTorque * motors[MOTOR_REAR_LEFT])); body->AddRelativeTorque(Vector3d(0.0, 0.0, scale2 * -maxTorque * motors[MOTOR_REAR_LEFT]));