fix typo

rst-tu-dortmund · Dec 24, 2018 · 44c3553 · 44c3553
1 parent 893d5ee
commit 44c3553
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/optimal_planner.cpp b/src/optimal_planner.cpp
@@ -759,7 +759,7 @@ void TebOptimalPlanner::AddEdgesVelocity()
       return; // if weight equals zero skip adding edges!
 
     int n = teb_.sizePoses();
-    switch (sfg_->robot.omni_type) {
+    switch (cfg_->robot.omni_type) {
       case 0:
         {
           Eigen::Matrix<double,1,1> information;
@@ -940,7 +940,7 @@ void TebOptimalPlanner::AddEdgesAcceleration()
   }
   else // holonomic robot
   {
-    switch (sfg_->robot.omni_type) {
+    switch (cfg_->robot.omni_type) {
       case 0:
         {
           Eigen::Matrix<double,1,1> information;

diff --git a/src/teb_local_planner_ros.cpp b/src/teb_local_planner_ros.cpp
@@ -872,7 +872,7 @@ void TebLocalPlannerROS::saturateVelocityHolonomic(double& vx, double& vy, doubl
       l = 0.0;
       break;
   }
-  scale = (l < 1.0) ? 1.0 : 1.0 / l;
+  double scale = (l < 1.0) ? 1.0 : 1.0 / l;
   vx *= scale;
   vy *= scale;
   omega *= scale;