Fix node velocity term

PX4 · Jul 23, 2019 · 9bf7d5f · 9bf7d5f
1 parent 1844f31
commit 9bf7d5f
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/local_planner/src/nodes/star_planner.cpp b/local_planner/src/nodes/star_planner.cpp
@@ -78,8 +78,7 @@ void StarPlanner::buildLookAheadTree() {
       for (candidateDirection candidate : candidate_vector) {
         PolarPoint candidate_polar = candidate.toPolar(tree_node_distance_);
         Eigen::Vector3f node_location = polarHistogramToCartesian(candidate_polar, origin_position);
-        Eigen::Vector3f node_velocity =
-            tree_[tree_[origin].origin_].getVelocity() + (node_location - origin_position);  // todo: simulate!
+        Eigen::Vector3f node_velocity = node_location - origin_position;  // todo: simulate!
 
         // check if another close node has been added
         int close_nodes = 0;