added epsilon to 0.15m y max step length

src/step_sequence_planner.cc

@@ -56,7 +56,7 @@ StepSequencePlanner::DetermineStepSequence ()
 
     // based on distance to cover
     const double length_per_step = 0.25;
-    const double width_per_step = 0.15;
+    const double width_per_step = 0.15111;
     Eigen::Vector2d start_to_goal = goal_state_.p.segment<2>(0) - curr_state_.p.segment<2>(0);
     int req_steps_by_length = std::ceil(std::fabs(start_to_goal.x())/length_per_step);
     int req_steps_by_width  = std::ceil(std::fabs(start_to_goal.y())/width_per_step);