aaa
Dependencies: mbed BNO055_fusion Adafruit_GFX ros_lib_kinetic
Diff: odometry/odom.h
- Revision:
- 10:3b47050b1652
- Parent:
- 8:80708bacb5b5
- Child:
- 11:375d474b8522
diff -r b20145b7e1ba -r 3b47050b1652 odometry/odom.h --- 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