RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Update remote thing pose

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This commit is contained in:
Pascal Serrarens 2025-06-11 14:23:51 +02:00
parent ba81b9f71d
commit 48d538a73a
2 changed files with 11 additions and 3 deletions
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4
Unity/DifferentialDrive.cs
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@ -133,8 +133,8 @@ namespace RoboidControl.Unity {
rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward; rb.velocity = 0.9f * rb.velocity + 0.1f * forwardSpeed * transform.forward;
rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up; rb.angularVelocity = 0.9f * rb.angularVelocity + 0.1f * turningSpeed * Vector3.up;
core.position = LinearAlgebra.Spherical.FromVector3(this.transform.localPosition); core.ReplacePosition(LinearAlgebra.Spherical.FromVector3(this.transform.localPosition));
core.orientation = LinearAlgebra.SwingTwist.FromQuaternion(this.transform.localRotation); core.ReplaceOrientation(LinearAlgebra.SwingTwist.FromQuaternion(this.transform.localRotation));
} }
} }

8
src/Thing.cs
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@ -316,6 +316,10 @@ namespace RoboidControl {
/// </summary> /// </summary>
public bool positionUpdated = false; public bool positionUpdated = false;
public void ReplacePosition(Spherical newPosition) {
this._position = newPosition;
}
private SwingTwist _orientation = SwingTwist.zero; private SwingTwist _orientation = SwingTwist.zero;
/// <summary> /// <summary>
/// The orientation of the thing in local space /// The orientation of the thing in local space
@ -336,6 +340,10 @@ namespace RoboidControl {
/// </summary> /// </summary>
public bool orientationUpdated = false; public bool orientationUpdated = false;
public void ReplaceOrientation(SwingTwist newOrientation) {
this._orientation = newOrientation;
}
private Spherical _linearVelocity = Spherical.zero; private Spherical _linearVelocity = Spherical.zero;
/// <summary> /// <summary>
/// The linear velocity of the thing in local space in meters per second /// The linear velocity of the thing in local space in meters per second