Changeset 430 in flair-src for trunk/demos/TwoWheelRobotCircleFollower/ugv/src
- Timestamp:
- Jul 7, 2021, 2:12:52 PM (3 years ago)
- File:
-
- 1 edited
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trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp
r389 r430 182 182 ugvVrpn->GetQuaternion(vrpnQuaternion); 183 183 float yaw=vrpnQuaternion.ToEuler().yaw; 184 float L=1;185 184 float v= cosf(yaw)*uX->Output() + sinf(yaw)*uY->Output(); 186 185 float w = -sinf(yaw)/l->Value()*uX->Output() + cosf(yaw)/l->Value()*uY->Output();
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