remove redundant call

askuric · askuric · commit 231402189d0b · 2025-12-04T12:07:18.000+01:00
diff --git a/src/lib.rs b/src/lib.rs
@@ -245,7 +245,6 @@ impl Kinematics {
                 let current_yaw = t_world_platform[(0, 1)].atan2(t_world_platform[(0, 0)]);
                 let relative_yaw = body_yaw_target - current_yaw;
                 body_yaw_target = current_yaw + relative_yaw.clamp(-max_rel_yaw, max_rel_yaw);
-                body_yaw_target = body_yaw_target;
             }
             // then clamp the body yaw within +/- max_body_yaw
             // this is physically limited by the mechanical design

Original file line number	Diff line number	Diff line change
`@@ -245,7 +245,6 @@ impl Kinematics {`
`245`	`245`	`let current_yaw = t_world_platform[(0, 1)].atan2(t_world_platform[(0, 0)]);`
`246`	`246`	`let relative_yaw = body_yaw_target - current_yaw;`
`247`	`247`	`body_yaw_target = current_yaw + relative_yaw.clamp(-max_rel_yaw, max_rel_yaw);`
`248`		`- body_yaw_target = body_yaw_target;`
`249`	`248`	`}`
`250`	`249`	`// then clamp the body yaw within +/- max_body_yaw`
`251`	`250`	`// this is physically limited by the mechanical design`