駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

Diff: odometry/odom.h

Revision:
10:3b47050b1652
Parent:
8:80708bacb5b5
Child:
11:375d474b8522
--- a/odometry/odom.h	Sun Jan 06 04:23:42 2019 +0000
+++ b/odometry/odom.h	Fri Mar 22 12:29:18 2019 +0000
@@ -72,6 +72,11 @@
         void set_offset_angle_zero(){
             offset_angle_ = actual_angle_;
         }
+        
+        //現在角度を0度に設定
+        void set_offset_angle_initialpose(){
+            offset_angle_ = actual_angle_ - initialpose_.angle();
+        }
                 
         //Getter
         bool get_court_color(){
@@ -130,6 +135,7 @@
             odom_->reset_odom();
             odom_->reset_drift(); 
             odom_->set_offset_angle_zero();  
+//            odom_->set_offset_angle_initialpose();
         }
         
         //Getter