po

yuki-takagi-66 · yuki-takagi-66 · commit fdc56f74bca1 · 2025-03-24T21:57:49.000+09:00
Signed-off-by: yuki-takagi-66 &lt;yuki.takagi@tier4.jp&gt;
diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp
@@ -45,13 +45,13 @@ void AccelerationValidator::validate(
   res.desired_acc = desired_acc_lpf.getValue().value();
   res.measured_acc = measured_acc_lpf.getValue().value();
 
+  res.is_valid_acc = true;
   const int8_t des_sign = std::signbit(res.desired_acc) ? 1 : -1;
   if (
-    res.measured_acc > res.desired_acc * (1 + des_sign * e_scale) + e_offset &&
+    res.measured_acc > res.desired_acc * (1 + des_sign * e_scale) + e_offset ||
     res.measured_acc < res.desired_acc * (1 - des_sign * e_scale) - e_offset) {
     res.is_valid_acc = false;
   }
-  res.is_valid_acc = true;
 }
 
 ControlValidator::ControlValidator(const rclcpp::NodeOptions & options)

Original file line number	Diff line number	Diff line change
`@@ -45,13 +45,13 @@ void AccelerationValidator::validate(`
`45`	`45`	`res.desired_acc = desired_acc_lpf.getValue().value();`
`46`	`46`	`res.measured_acc = measured_acc_lpf.getValue().value();`
`47`	`47`
	`48`	`+ res.is_valid_acc = true;`
`48`	`49`	`const int8_t des_sign = std::signbit(res.desired_acc) ? 1 : -1;`
`49`	`50`	`if (`
`50`		`- res.measured_acc > res.desired_acc * (1 + des_sign * e_scale) + e_offset &&`
	`51`	`+ res.measured_acc > res.desired_acc * (1 + des_sign * e_scale) + e_offset \|\|`
`51`	`52`	`res.measured_acc < res.desired_acc * (1 - des_sign * e_scale) - e_offset) {`
`52`	`53`	`res.is_valid_acc = false;`
`53`	`54`	`}`
`54`		`- res.is_valid_acc = true;`
`55`	`55`	`}`
`56`	`56`
`57`	`57`	`ControlValidator::ControlValidator(const rclcpp::NodeOptions & options)`