compAIR/libcreate
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Merge pull request #17 from AutonomyLab/devel

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Make velocity relative to base frame, not odometry frame
This commit is contained in:
Jacob Perron 2016-04-30 14:15:22 -07:00
commit 1df7861f24
1 changed files with 2 additions and 2 deletions
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src/create.cpp
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@ -150,8 +150,8 @@ namespace create {
} // if CREATE_2 } // if CREATE_2
if (fabs(dt) > util::EPS) { if (fabs(dt) > util::EPS) {
vel.x = deltaX / dt; vel.x = deltaDist / dt;
vel.y = deltaY / dt; vel.y = 0.0;
vel.yaw = deltaYaw / dt; vel.yaw = deltaYaw / dt;
} }
else { else {