Diff: main.cpp

Revision:

41:d8067ab9def5

Parent:

40:eb7f8dce5787

Child:

42:b54a4f294aa9

--- a/main.cpp	Thu May 05 16:19:53 2022 +0000
+++ b/main.cpp	Thu May 05 18:32:17 2022 +0200
@@ -56,15 +56,18 @@
 // transform wheel to robot
 Eigen::Matrix<float, 2, 2> Crw;
 Eigen::Matrix<float, 2, 2> Cwr;
-//Eigen::Matrix<float, 2, 2> Crw {{r_wheel / 2.0f, r_wheel / 2.0f}, {r_wheel / L_wheel, -r_wheel / L_wheel}};
-// transform robot to wheel
-// Eigen::Matrix<float, 2, 2> Cwr { {1.0f / r_wheel, L_wheel / (2.0f * r_wheel)}, {1.0f / r_wheel, -L_wheel / (2.0f * r_wheel)} };
+Eigen::Matrix<float, 2, 2> I;
+
 
 int main()
-{
-    Crw << r_wheel / 2.0f,             r_wheel / 2.0f, r_wheel / L_wheel, -r_wheel / L_wheel         ;
-    Cwr << 1.0f / r_wheel, L_wheel / (2.0f * r_wheel),    1.0f / r_wheel, -L_wheel / (2.0f * r_wheel);
-    
+{    
+    Crw << r_wheel / 2.0f   ,  r_wheel / 2.0f   ,
+           r_wheel / L_wheel, -r_wheel / L_wheel;
+    Cwr << 1.0f / r_wheel,  L_wheel / (2.0f * r_wheel),
+           1.0f / r_wheel, -L_wheel / (2.0f * r_wheel);
+    I = Crw * Cwr;
+    printf("%f, %f, %f, %f\r\n", I(0,0), I(0,1), I(1,0), I(1,1));
+
     // attach button fall and rise functions to user button object
     user_button.fall(&user_button_pressed_fcn);
     user_button.rise(&user_button_released_fcn);