From d6d86cf8a2016f6d511cc03dbbbaec524561cb3d Mon Sep 17 00:00:00 2001
From: Ivan Hazucha <ihazuch@gmail.com>
Date: Tue, 30 Mar 2021 23:23:08 +0100
Subject: [PATCH] Fixed maxW selection in createDynamicWindow by changing max()
 to min() - possible angular velocities were tilted towards positive values

---
 src/dwa.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/dwa.c b/src/dwa.c
index b65ec79..54d1fd0 100644
--- a/src/dwa.c
+++ b/src/dwa.c
@@ -9,7 +9,7 @@ createDynamicWindow(Velocity velocity, Config config, DynamicWindow **dynamicWin
   float minW =
     max(-config.maxYawrate, velocity.angularVelocity - config.maxdYawrate * config.dt);
   float maxW =
-    max(config.maxYawrate, velocity.angularVelocity + config.maxdYawrate * config.dt);
+    min(config.maxYawrate, velocity.angularVelocity + config.maxdYawrate * config.dt);
 
   int nPossibleV = (maxV - minV) / config.velocityResolution;
   int nPossibleW = (maxW - minW) / config.yawrateResolution;