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Fixes handling velocity frames in a couple Kenobi spots. #392

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Merged
barulicm merged 2 commits into from
May 4, 2026
+8 −2
Merged

Fixes handling velocity frames in a couple Kenobi spots. #392

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72d2077
Fixes handling velocity frames in a couple Kenobi spots.
barulicm May 4, 2026
cf2e994
Removes vestigial TODO comment
barulicm May 4, 2026
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7 changes: 5 additions & 2 deletions ateam_kenobi/src/core/defense_area_enforcement.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include "defense_area_enforcement.hpp"
#include <ateam_geometry/ateam_geometry.hpp>
#include <ateam_common/robot_constants.hpp>
#include "core/motion/frame_conversions.hpp"

namespace ateam_kenobi::defense_area_enforcement
{
Expand Down Expand Up @@ -71,9 +72,11 @@ bool WouldVelocityCauseCollision(

const double delta_t = 0.01;

// TODO(barulicm): This ignores the velocity frame
const ateam_geometry::Vector velocity{motion_command.twist.linear.x,
ateam_geometry::Vector velocity{motion_command.twist.linear.x,
motion_command.twist.linear.y};
if (motion_command.twist_frame == ateam_msgs::msg::RobotMotionCommand::FRAME_BODY) {
velocity = ateam_kenobi::motion::LocalToWorldFrame(velocity, world.our_robots[robot_id]);
}

const ateam_geometry::Vector displacement = velocity * delta_t;

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3 changes: 3 additions & 0 deletions ateam_kenobi/src/core/motion/motion_executor.cpp
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Expand Up @@ -69,6 +69,9 @@ std::array<std::optional<BodyVelocity>,
},
[&](const intents::linear::VelocityIntent & v) {
body_velocity.linear = v.velocity;
if (v.frame == intents::linear::Frame::World) {
body_velocity.linear = WorldToLocalFrame(v.velocity, robot);
}
use_controller_linvel = false;
controller.reset_trajectory({robot.pos});
},
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