RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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LinearAlgebra updates

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This commit is contained in:
Pascal Serrarens 2024-05-10 18:20:09 +02:00
parent 6ee5bc44f8
commit 2b6912a2c9
5 changed files with 8 additions and 6 deletions
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2
DifferentialDrive.cpp
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@ -84,7 +84,7 @@ Polar DifferentialDrive::GetVelocity() {
float direction = speed >= 0 ? 0.0F : 180.0F; float direction = speed >= 0 ? 0.0F : 180.0F;
float magnitude = fabsf(speed); float magnitude = fabsf(speed);
Polar velocity = Polar(direction, magnitude); Polar velocity = Polar(magnitude, direction); // Polar(direction, magnitude);
return velocity; return velocity;
} }

2
LinearAlgebra

@ -1 +1 @@
Subproject commit 64ca76830c81974eaac9b0d7edad631522a14b12 Subproject commit 791bd78e2909065f2f7e3bd47dbf3fce14c4286a

2
NetworkPerception.cpp
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@ -104,7 +104,7 @@ void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) {
float angle = float angle =
Vector3::SignedAngle(Vector3::forward, localPosition, Vector3::up); Vector3::SignedAngle(Vector3::forward, localPosition, Vector3::up);
Polar position = Polar(angle, distance); Polar position = Polar(distance, angle); // Polar(angle, distance);
/* /*
Vector2 worldPosition2D = Vector2(worldPosition); Vector2 worldPosition2D = Vector2(worldPosition);

6
Perception.cpp
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@ -478,14 +478,16 @@ void Perception::Update(float currentTimeMs) {
float distance = distanceSensor->GetDistance(); float distance = distanceSensor->GetDistance();
if (distance >= 0) { if (distance >= 0) {
float angle = sensor->position.angle; float angle = sensor->position.angle;
Polar position = Polar(angle, distance); // Polar position = Polar(angle, distance);
Polar position = Polar(distance, angle);
// AddTrackedObject(distanceSensor, position); // AddTrackedObject(distanceSensor, position);
} }
} else if (sensor->type == Thing::SwitchType) { } else if (sensor->type == Thing::SwitchType) {
Switch *switchSensor = (Switch *)sensor; Switch *switchSensor = (Switch *)sensor;
if (switchSensor->IsOn()) { if (switchSensor->IsOn()) {
Polar position = Polar(sensor->position.angle, nearbyDistance); // Polar position = Polar(sensor->position.angle, nearbyDistance);
Polar position = Polar(nearbyDistance, sensor->position.angle);
// AddTrackedObject(switchSensor, position); // AddTrackedObject(switchSensor, position);
} }
} else { } else {

2
Propulsion.cpp
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@ -37,6 +37,6 @@ void Propulsion::SetTwistSpeed(Vector3 linear, float yaw, float pitch,
void Propulsion::SetVelocity(Polar velocity) {} void Propulsion::SetVelocity(Polar velocity) {}
Polar Propulsion::GetVelocity() { return Polar(0, 0); } Polar Propulsion::GetVelocity() { return Polar::zero; }
float Propulsion::GetAngularVelocity() { return 0; } float Propulsion::GetAngularVelocity() { return 0; }