planning: bug fix for rotation correction

peak9527 · Jul 6, 2018 · 23f3cd1 · 23f3cd1
1 parent 8d0d74f
commit 23f3cd1
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/modules/planning/common/trajectory/trajectory_stitcher.cc b/modules/planning/common/trajectory/trajectory_stitcher.cc
@@ -81,7 +81,7 @@ void TrajectoryStitcher::TransformLastPublishedTrajectory(const double x_diff,
 
         auto x_new = cos_theta * x - sin_theta * y + tx;
         auto y_new = sin_theta * x + cos_theta * y + ty;
-        auto theta_new = common::math::WrapAngle(theta + theta_diff);
+        auto theta_new = common::math::WrapAngle(theta - theta_diff);
 
         p.mutable_path_point()->set_x(x_new);
         p.mutable_path_point()->set_y(y_new);