compAIR/libcreate
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Fix bug: convert distance measurement to meters

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This commit is contained in:
Jacob Perron 2016-03-14 20:24:00 -07:00
parent f073458624
commit dc998af427
2 changed files with 1 additions and 3 deletions
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src/create.cpp
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@ -66,7 +66,7 @@ namespace create {
float dt = (curTime - prevOnDataTime) / 1000000.0;
float deltaDist, deltaX, deltaY, deltaYaw;
if (model == CREATE_1) {
deltaDist = GET_DATA(ID_DISTANCE);
deltaDist = GET_DATA(ID_DISTANCE) / 1000.0; //mm -> m
deltaYaw = GET_DATA(ID_ANGLE) * util::PI / 180.0; // D2R
deltaX = deltaDist * cos(pose.yaw);
deltaY = deltaDist * sin(pose.yaw);