compAIR/libcreate
compAIR/libcreate
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Fix odometry bug

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jacobperron 2016-03-25 17:04:59 -07:00
parent 92154ed8ee
commit 047dd9d6bc
1 changed files with 0 additions and 1 deletions
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src/create.cpp
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@ -99,7 +99,6 @@ namespace create {
deltaDist = (rightWheelDist + leftWheelDist) / 2.0; deltaDist = (rightWheelDist + leftWheelDist) / 2.0;
// Moving straight // Moving straight
float deltaX, deltaY;
if (fabs(wheelDistDiff) < util::EPS) { if (fabs(wheelDistDiff) < util::EPS) {
deltaX = deltaDist * cos(pose.yaw); deltaX = deltaDist * cos(pose.yaw);
deltaY = deltaDist * sin(pose.yaw); deltaY = deltaDist * sin(pose.yaw);