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Fernando Herrero
iri_teaching
Commits
0e596a89
Commit
0e596a89
authored
Jul 05, 2021
by
Fernando Herrero
Browse files
Initial commit
parent
23ff5eb1
Changes
1
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src/odom_new.cpp
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0e596a89
...
...
@@ -69,12 +69,6 @@ class OdomNew
//this->x =
//this->y =
//this->th =
vx
=
this
->
radius
*
(
left_vel
+
right_vel
)
/
2.0
;
vth
=
this
->
radius
*
(
right_vel
-
left_vel
)
/
this
->
wheel_distance
;
this
->
x
+=
vx
*
cos
(
this
->
th
)
*
dt
;
this
->
y
+=
vx
*
sin
(
this
->
th
)
*
dt
;
this
->
th
+=
vth
*
dt
;
//////// TODO //////
this
->
odom_msg
.
header
.
stamp
=
time
;
...
...
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