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Change sign of xx in command-new-1d.cpp to make xx>0 <=> backward

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_Luc_ 2015-05-22 19:24:24 +02:00
parent 3d5ab5635c
commit 016c5b01c8
1 changed files with 3 additions and 5 deletions
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8
src/commande-new-1d.cpp
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@ -17,8 +17,8 @@ class Run
private: private:
float xx, yy, dz; float xx, yy, dz;
// xx > 0 : forward // xx < 0 : forward
// xx < 0 : backward // xx > 0 : backward
// yy > 0 : right // yy > 0 : right
// yy < 0 : left // yy < 0 : left
@ -56,12 +56,10 @@ class Run
if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min) if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
{ {
mvt->linear.y = yy * plan_vel; mvt->linear.y = yy * plan_vel;
mvt->linear.x = 0.;
} }
else if (fabs(xx) > x_dev_min) else if (fabs(xx) > x_dev_min)
{ {
mvt->linear.x = xx * plan_vel; mvt->linear.x = - xx * plan_vel;
mvt->linear.y = 0.;
} }
assert(mvt->linear.x == 0. || mvt->linear.y == 0.); assert(mvt->linear.x == 0. || mvt->linear.y == 0.);