Fixes tilt slope for cant

This commit is contained in:
Richard Brice
2024-04-10 14:09:46 -07:00
parent 7589e0bd40
commit a34da81ac5
+1 -1
View File
@@ -272,7 +272,7 @@ class cant_adjuster : public GEOMETRY_ADJUSTER {
// compute h is greater than PI/2 and the tangent of that angle is negative.
// For this reason, use fabs(h) so tilt is between 0 and PI
double cant = parent_curve_point.col(3)(1);
auto tilt = atan2(fabs(h), cant);
auto tilt = -atan2(fabs(h), cant);
// Create a transformation matrix
Eigen::Matrix4d m = Eigen::Matrix4d::Identity();