message: fix single track controller steeering back
diff: @@ -92,6 +92,8 @@ inline double CalculateSteeringAngle(const SingleTrackModelPtr& model,
  using StateDefinition::THETA_POSITION;
  using StateDefinition::X_POSITION;
  using StateDefinition::Y_POSITION;
  + using bark::geometry::Point2d;
  + using bark::geometry::Norm0ToPI;
  const double l = model->GetWheelBase();
  @@ -103,7 +105,10 @@ inline double CalculateSteeringAngle(const SingleTrackModelPtr& model,
  FrenetState f_state = FrenetState(state_front, ref_line);
  double vel = state(StateDefinition::VEL_POSITION);
  - double delta = f_state.angle + atan2(-gain * f_state.lat, vel);
  + double delta = -Norm0ToPI(f_state.angle) + atan2(-gain * f_state.lat, vel);
  +
  + LOG(INFO) << "del=" << delta << ", fa=" << f_state.angle << ", na=" << Norm0ToPI(f_state.angle) <<
  + ", g=" << gain << ", lat=" << f_state.lat << ", v=" << vel;
  if (limit_steering) {
  double delta_max =
  