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Removed whitespaces

This commit is contained in:
Joel Moriana 2022-07-19 17:10:26 +02:00 committed by glopezdiest
parent b2bb32be44
commit e7df4ea732
1 changed files with 2 additions and 2 deletions
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4
LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
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@ -160,12 +160,12 @@ void MotionPlanStage::Update(const unsigned long index) {
MIN_TARGET_WAYPOINT_DISTANCE);
const SimpleWaypointPtr &target_waypoint = GetTargetWaypoint(waypoint_buffer, target_point_distance).first;
cg::Location target_location = target_waypoint->GetLocation();
float offset = parameters.GetLaneOffset(actor_id);
auto right_vector = target_waypoint->GetTransform().GetRightVector();
auto offset_location = cg::Location(cg::Vector3D(offset*right_vector.x, offset*right_vector.y, 0.0f));
target_location = target_location + offset_location;
float dot_product = DeviationDotProduct(vehicle_location, vehicle_heading, target_location);
float cross_product = DeviationCrossProduct(vehicle_location, vehicle_heading, target_location);
dot_product = acos(dot_product) / PI;