fix issue when steering command become nan#4
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zeerekahmad
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Jun 5, 2026
zeerekahmad
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zeerekahmad
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Approved, but we need to clean up this pattern
| // the wheelbase allows pushes it past +/-1; without clamping acos returns NaN, which then | ||
| // propagates into the articulation angle and every wheel-velocity command. Clamp so an | ||
| // over-tight command saturates to the sharpest representable turn (the controller further | ||
| // clamps the resulting steering command to the steering limits). |
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Let's add the description to the derivation markdown file on why we're doing this
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| // copysign selects + for forward, - for reverse. | ||
| double acos_calculation = std::acos( | ||
| // The acos argument is in [-1, 1] only when omega^2 * (Lr^2 - Lf^2) <= v^2, i.e. when the |
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This is a very good edge case, and supports the argument that the kinematic lib should be able to tell us the limits.
For now we can remove NaNs, but let's get a design in place that the user can query the vehicle limits based on what is sent. And then we can check against that.
This hack can obfuscate the issue
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