chore(autoware_mpc_lateral_controller): fix formula description in vehicle_model_bicycle_kinematics.hpp

[Autumn60]

Description

Fixed a mathematical formula described in vehicle_model_bicycle_kinematics.hpp that did not match the implementation in vehicle_model_bicycle_kinematics.cpp.

autoware.universe/control/autoware_mpc_lateral_controller/src/vehicle_model/vehicle_model_bicycle_kinematics.cpp

Lines 46 to 56 in d10c4c2

	a_d << 0.0, velocity, 0.0, 0.0, 0.0, velocity / m_wheelbase * cos_delta_r_squared_inv, 0.0, 0.0,
	-1.0 / m_steer_tau;
	b_d << 0.0, 0.0, 1.0 / m_steer_tau;
	c_d << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0;
	w_d << 0.0,
	-velocity * m_curvature +
	velocity / m_wheelbase * (tan(delta_r) - delta_r * cos_delta_r_squared_inv),
	0.0;

Related links

None.

How was this PR tested?

None.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.77%. Comparing base (ddfacd3) to head (1a24b13).
Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #8971   +/-   ##
=======================================
  Coverage   29.76%   29.77%           
=======================================
  Files        1444     1443    -1     
  Lines      108686   108701   +15     
  Branches    42664    42666    +2     
=======================================
+ Hits        32352    32364   +12     
- Misses      73150    73151    +1     
- Partials     3184     3186    +2     

Flag	Coverage Δ		*Carryforward flag
differential	33.63% <ø> (?)
total	29.77% <ø> (+0.01%)	⬆️	Carriedforward from 5ac4823

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[takayuki5168]

Thank you!

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.