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Dependencies: VNH5019
Fork of AigamozuControlPackets by
Diff: AigamozuControlPackets.cpp
- Revision:
- 16:0e815cca2cc7
- Parent:
- 15:ac839aff80bc
diff -r ac839aff80bc -r 0e815cca2cc7 AigamozuControlPackets.cpp --- a/AigamozuControlPackets.cpp Mon Apr 27 12:07:42 2015 +0000 +++ b/AigamozuControlPackets.cpp Mon May 11 13:09:32 2015 +0000 @@ -218,28 +218,28 @@ //Update Robot Point void AigamozuControlPackets::reNewRobotPoint(long latitudeH,long latitudeL,long longitudeH,long longitudeL){ - agzPoint.x = (double)latitudeH + (double)(latitudeL / 1000000.0); - agzPoint.y = (double)longitudeH +(double)(longitudeL / 1000000.0); + agzPoint.x = (double)latitudeH + (double)(latitudeL / 1000000.0 / 60.0); + agzPoint.y = (double)longitudeH +(double)(longitudeL / 1000000.0 / 60.0); } //Updata Base Point void AigamozuControlPackets::reNewBasePoint(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL){ - basePoint[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0); - basePoint[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0); + basePoint[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0 / 60.0); + basePoint[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0 / 60.0); } //Update Robot Point void AigamozuControlPackets::reNewRobotPointKalman(long latitudeH,long latitudeL,long longitudeH,long longitudeL){ - agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 1000000.0); - agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 1000000.0); + agzPointKalman.x = (double)latitudeH + (double)(latitudeL / 1000000.0 / 60.0); + agzPointKalman.y = (double)longitudeH +(double)(longitudeL / 1000000.0 / 60.0); } //Updata Base Point void AigamozuControlPackets::reNewBasePointKalman(int id, long latitudeH,long latitudeL,long longitudeH,long longitudeL){ - basePointKalman[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0); - basePointKalman[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0); + basePointKalman[id].x = (double)latitudeH + (double)(latitudeL / 1000000.0 / 60.0); + basePointKalman[id].y = (double)longitudeH +(double)(longitudeL / 1000000.0 / 60.0); }