From ac5d9dac51fd8534a817c37e8a83ba163b609dfb Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Tue, 5 May 2020 09:42:43 +0200
Subject: [PATCH] Added DEFAULT_REVERSE_ORIENTATION to know when to add PI to
the orientation, not always in reverse
---
include/adc_signals.h | 2 +-
src/adc_signals.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/adc_signals.h b/include/adc_signals.h
index fdfeeaa..37ee1e7 100644
--- a/include/adc_signals.h
+++ b/include/adc_signals.h
@@ -40,7 +40,7 @@
#define SEMAPHORE_TYPE "1000001"
#define SEMAPHORE_MARKER "alvar15"
-
+#define DEFAULT_REVERSE_ORIENTATION true
/**
* \struct Sign_urdf_info.
*
diff --git a/src/adc_signals.cpp b/src/adc_signals.cpp
index 8071352..17d795d 100644
--- a/src/adc_signals.cpp
+++ b/src/adc_signals.cpp
@@ -233,5 +233,5 @@ void CAdcSignals::load(std::auto_ptr<signals::signal_type> &signal_info)
bool reverse = false;
if (signal_info->orientation().present() && signal_info->orientation().get() == orientation::cxx_1)
reverse = true;
- this->heading += (reverse ? M_PI : 0.0);
+ this->heading += (reverse != DEFAULT_REVERSE_ORIENTATION ? M_PI : 0.0);
}
\ No newline at end of file
--
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