compAIR/libcreate
compAIR/libcreate
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Fix odom angle sign error

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jacobperron 2016-03-31 22:14:56 -07:00
parent 76e5ac8816
commit 055cf859bf
1 changed files with 1 additions and 1 deletions
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2
src/create.cpp
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@ -67,7 +67,7 @@ namespace create {
float deltaDist, deltaX, deltaY, deltaYaw; float deltaDist, deltaX, deltaY, deltaYaw;
if (model == CREATE_1) { if (model == CREATE_1) {
deltaDist = GET_DATA(ID_DISTANCE) / 1000.0; //mm -> m deltaDist = GET_DATA(ID_DISTANCE) / 1000.0; //mm -> m
deltaYaw = GET_DATA(ID_ANGLE) * util::PI / 180.0; // D2R deltaYaw = ((int16_t) GET_DATA(ID_ANGLE)) * (util::PI / 180.0); // D2R
deltaX = deltaDist * cos(pose.yaw); deltaX = deltaDist * cos(pose.yaw);
deltaY = deltaDist * sin(pose.yaw); deltaY = deltaDist * sin(pose.yaw);
} }