compAIR/libcreate
compAIR/libcreate
4
0
Fork 1
Code Issues Pull requests Projects Releases Packages 1 Wiki Activity Actions

Make velocity relative to base frame, not odometry frame

Browse source
This commit is contained in:
Jacob Perron 2016-04-20 12:09:11 -07:00
parent 44a6f809e8
commit 304fd54e0d
1 changed files with 2 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/create.cpp
View file

@ -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 {