From e8ce99932db0a4d5f05f74865105e7bbc232099d Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 7 Jan 2022 15:57:34 +0100
Subject: [PATCH] reducing velocity
---
.../trajectory_control/TrajectoryFollowingController.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp b/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
index 0fef75df..c7c27ef2 100644
--- a/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
+++ b/source/armarx/navigation/trajectory_control/TrajectoryFollowingController.cpp
@@ -170,7 +170,7 @@ namespace armarx::navigation::traj_ctrl
projectedPose.wayPointBefore.waypoint.pose.translation())
.normalized();
- const float ffVel = 700; //projectedPose.projection.velocity;
+ const float ffVel = 300; //projectedPose.projection.velocity;
const auto feedforwardVelocity = desiredMovementDirection * ffVel;
--
GitLab