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undo an epsilon fix that broke stuff. all tests pass right now!

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This commit is contained in:
Dustin Carlino 2018-08-15 16:24:24 -07:00
parent d8e26eb703
commit e7dab9f65e
1 changed files with 3 additions and 2 deletions
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5
sim/src/kinematics.rs
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@ -55,8 +55,9 @@ impl Vehicle {
// TODO this needs unit tests and some careful checking // TODO this needs unit tests and some careful checking
pub fn accel_to_stop_in_dist(&self, speed: Speed, dist: Distance) -> Acceleration { pub fn accel_to_stop_in_dist(&self, speed: Speed, dist: Distance) -> Acceleration {
assert_ge!(dist, -EPSILON_DIST); assert_ge!(dist, -EPSILON_DIST);
// Don't NaN out // Don't NaN out. Don't check for <= EPSILON_DIST here -- it makes cars slightly overshoot
if dist <= EPSILON_DIST { // sometimes.
if dist <= 0.0 * si::M {
return 0.0 * si::MPS2; return 0.0 * si::MPS2;
} }