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@ -43,6 +43,7 @@ DESIRES = {
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def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
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states[0].x = v_ego * delay
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states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
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states[0].y = states[0].x * math.sin(states[0].psi / 2)
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return states
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@ -1 +1 @@
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635052c6f021001fd11ec68ad0f6ee1811ee4a76
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804ee1ffcfa0639782f1322874d89f0c8c412c50
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