Changeset 430 in flair-src for trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp

Timestamp:

Jul 7, 2021, 2:12:52 PM (3 years ago)

Author:

Sanahuja Guillaume

Message:

good setup for sumo

File:

• trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp (modified) (1 diff)

trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.cpp

@@ -182 +182 @@
   ugvVrpn->GetQuaternion(vrpnQuaternion);
   float yaw=vrpnQuaternion.ToEuler().yaw;
-  float L=1;
   float v= cosf(yaw)*uX->Output() + sinf(yaw)*uY->Output();
   float w = -sinf(yaw)/l->Value()*uX->Output() + cosf(yaw)/l->Value()*uY->Output();