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Solve mini pillar widening in DefaultWideningStrategy
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@ -723,7 +723,7 @@ struct DefaultWideningModel {
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"DefaultWideningModel is not a widening function");
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"DefaultWideningModel is not a widening function");
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double w = WIDENING_SCALE * sm.cfg.pillar_widening_factor * len;
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double w = WIDENING_SCALE * sm.cfg.pillar_widening_factor * len;
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return src.R + w;
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return std::max(src.R, sm.cfg.head_back_radius_mm) + w;
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};
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};
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};
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};
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