駿 高世 / Mbed 2 deprecated abu2019_mr1

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Dependencies:   mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic

Diff: odometry/odom.cpp

Revision:
5:e678f1ac6cdc
Parent:
3:a45557a0dcb8
Child:
6:20a32baeff79
--- a/odometry/odom.cpp	Wed Dec 12 03:35:52 2018 +0000
+++ b/odometry/odom.cpp	Tue Dec 18 21:00:30 2018 +0000
@@ -58,7 +58,7 @@
     }
     
     //オフセットを考慮して角度を設定
-    world_.angle(actual_angle_ + offset_angle_);
+    world_.angle(actual_angle_ + initialpose_.angle() + offset_angle_);
     
     //値更新
     prev_angle = z_angle;