From 7c1d53799eca02412ae8ec0975cafab2700be8b3 Mon Sep 17 00:00:00 2001
From: Luigi Vanacore <96339315+LuigiVan01@users.noreply.github.com>
Date: Sat, 16 Aug 2025 20:16:18 +0200
Subject: [PATCH] Update dwa.c

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

diff --git a/src/dwa.c b/src/dwa.c
index 54d1fd0..d04bf3a 100644
--- a/src/dwa.c
+++ b/src/dwa.c
@@ -118,7 +118,7 @@ planning(Pose pose, Velocity velocity, Point goal,
       pPose = pose;
       pVelocity.linearVelocity = dw->possibleV[i];
       pVelocity.angularVelocity = dw->possibleW[j];
-      pPose = motion(pPose, pVelocity, config.predictTime);
+      pPose = motion(pPose, pVelocity, config.dt);
       cost = 
         config.velocity * calculateVelocityCost(pVelocity, config) +
         config.heading * calculateHeadingCost(pPose, goal) +