Repository navigation
Conversation
01Dami23
force-pushed
the
damiano/cosim-steering-setter
branch
from
October 1, 2026 15:13
d050d07 to
75643bc
Compare
This branch has not been deployed
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
set_agent_statesderives both the steering angle and the lateral acceleration from one yaw rate, with the speed floored at 1 m/s. Above 1 m/s that is exact. Below it, one number cannot carry both: a stopped car that still holds its wheels turned reads steering 0. The next step then starts from the wrong steering, under the 0.6 rad/s rate limit.c_set_agent_statestakes an optionalsteeringarray. When given, the angle is kept andaccel_lat = v² · tan(steering) / wheelbase, as inc_step's jerk dynamics.NULLkeeps today's behaviour, so the CARLA and nuPlan co-sim are unchanged.vec_set_agent_statesandDrive.set_agent_states(..., steering=None)pass it through. A non-finite steering is rejected.test_set_agent_states_steering_is_state_below_1mps; existing setter tests updated for the new argument.Needed by the AlpaSim co-sim, whose own integrator tracks the steering angle as state.