aigamozu / AigamozuControlPackets

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Dependencies:   VNH5019

Dependents:   agz_base_ver2 agz_base_ver2 get_GPS_data_ver1 aigamozu_program_ver2 ... more

Files at this revision

API Documentation at this revision

Revision 36:52d6b1759f5b, committed 2015-05-24

Comitter:
s1200058
Date:
Sun May 24 08:07:52 2015 +0000
Parent:
22:4f1516421f02
Commit message:
change set_cov;

Changed in this revision

AigamozuControlPackets.cpp Show annotated file Show diff for this revision Revisions of this file
AigamozuControlPackets.h Show annotated file Show diff for this revision Revisions of this file 
--- a/AigamozuControlPackets.cpp	Wed May 13 08:41:19 2015 +0000
+++ b/AigamozuControlPackets.cpp	Sun May 24 08:07:52 2015 +0000
@@ -72,18 +72,19 @@
 // set関数
 //////////////////////////////
 void AigamozuControlPackets::set_agzCov(double cov_lati,double cov_longi){
-    agzCov.x = cov_lati / 10000.0/60.0;
-    agzCov.y = cov_longi / 10000.0/60.0;    
+    agzCov.x = cov_lati;
+    agzCov.y = cov_longi;    
 }
 
-void AigamozuControlPackets::set_agzAutoGPS(){
-    agzPoint.x += 0.00001;
-    //agzPoint.y += 0.001;
+void AigamozuControlPackets::set_agzPointKalman_lati(double kalman_lati){
+
+    agzPointKalman.x = kalman_lati;   
+     
 }
-
-void AigamozuControlPackets::set_agzKalmanGPS(){
-    agzPointKalman.x += 0.00001;
-    //agzPointKalman.y += 0.001;
+        
+void AigamozuControlPackets::set_agzPointKalman_longi(double kalman_longi){
+    
+    agzPointKalman.y = kalman_longi;
     
 }
 //////////////////////////////

--- a/AigamozuControlPackets.h	Wed May 13 08:41:19 2015 +0000
+++ b/AigamozuControlPackets.h	Sun May 24 08:07:52 2015 +0000
@@ -85,8 +85,8 @@
     double get_basePointKalman_lati(int);
     double get_basePointKalman_longi(int);
     
-    void set_agzAutoGPS();
-    void set_agzKalmanGPS();
+    void set_agzPointKalman_lati(double);
+    void set_agzPointKalman_longi(double);
     
     void set_agzCov(double cov_lati,double cov_longi);