From 3d5ab5635c16e0186654ebb3397950a626dfce24 Mon Sep 17 00:00:00 2001
From: _Luc_ <luc.absil2@gmail.com>
Date: Fri, 22 May 2015 19:14:25 +0200
Subject: [PATCH 1/2] Gravissim error from Mr Paul Janin corrected

---
 src/filtre.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/filtre.cpp b/src/filtre.cpp
index 0e6ec5e..09cee19 100644
--- a/src/filtre.cpp
+++ b/src/filtre.cpp
@@ -68,14 +68,14 @@ class Callback {
       return std::min(diff1, diff2);
     }
 
-    sat_dist(const Point& pt)
+    float sat_dist(const Point& pt)
     {
       float h, s, v, diff1, diff2;
       pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
       return std::fabs(s - sat);
     }
 
-    val_dist(const Point& pt)
+    float val_dist(const Point& pt)
     {
       float h, s, v, diff1, diff2;
       pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);

From 016c5b01c8e2d4513b333d32b0e0689e985e6776 Mon Sep 17 00:00:00 2001
From: _Luc_ <luc.absil2@gmail.com>
Date: Fri, 22 May 2015 19:24:24 +0200
Subject: [PATCH 2/2] Change sign of xx in command-new-1d.cpp to make xx>0 <=>
 backward

---
 src/commande-new-1d.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/src/commande-new-1d.cpp b/src/commande-new-1d.cpp
index 41bd6b1..7c770c5 100644
--- a/src/commande-new-1d.cpp
+++ b/src/commande-new-1d.cpp
@@ -17,8 +17,8 @@ class Run
   private:
     float xx, yy, dz;
 
-    // xx > 0 : forward
-    // xx < 0 : backward
+    // xx < 0 : forward
+    // xx > 0 : backward
 
     // yy > 0 : right
     // yy < 0 : left
@@ -56,12 +56,10 @@ class Run
       if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
       {
         mvt->linear.y = yy * plan_vel;
-        mvt->linear.x = 0.;
       }
       else if (fabs(xx) > x_dev_min)
       {
-        mvt->linear.x = xx * plan_vel;
-        mvt->linear.y = 0.;
+        mvt->linear.x = - xx * plan_vel;
       }
       
       assert(mvt->linear.x == 0. || mvt->linear.y == 0.);