Romain Ame
/
Timer71pt
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Revision 33:7f8c29ddee61, committed 2016-01-26
- Comitter:
- Near32
- Date:
- Tue Jan 26 17:14:54 2016 +0000
- Parent:
- 32:068bd2b2e1f3
- Child:
- 35:4e3d9ab1b94b
- Commit message:
- odometry::update_odo : sampling changes on the computation on dx/dy in theta(t-1)+dtheta(t)/2 instead of theta(t-1) only.
Changed in this revision
| Odometry/Odometry.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Odometry/Odometry.cpp Tue Jan 26 17:02:41 2016 +0000
+++ b/Odometry/Odometry.cpp Tue Jan 26 17:14:54 2016 +0000
@@ -73,15 +73,18 @@
x = xO + R*sin(theta);
y = yO - R*cos(theta);
}*/
-
- double dx = deltaS*cos(theta);
- double dy = deltaS*sin(theta);
+ theta += deltaTheta;
+ while(theta > PI) theta -= 2*PI;
+ while(theta <= -PI) theta += 2*PI;
+
+
+ double dx = deltaS*cos(theta-deltaTheta/2);
+ double dy = deltaS*sin(theta-deltaTheta/2);
x += dx;
y += dy;
- theta += deltaTheta;
+
- while(theta > PI) theta -= 2*PI;
- while(theta <= -PI) theta += 2*PI;
+
}
void Odometry::GotoXY(double x_goal, double y_goal)