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source code in kobuki.cpp ecl::Angle<double> Kobuki::getHeading() const { ecl::Angle<double> heading; // raw data angles are in hundredths of a degree, convert to radians. heading = (static_cast<double>(inertia.data.angle) / 100.0) * ecl::pi / 180.0; return ecl::wrap_angle(heading - heading_offset); }

double Kobuki::getAngularVelocity() const { // raw data angles are in hundredths of a degree, convert to radians. return (static_cast<double>(inertia.data.angle_rate) / 100.0) * ecl::pi / 180.0; }

source code in kobuki.cpp kobuki.cpp

ecl::Angle<double> Kobuki::getHeading() const
{
  ecl::Angle<double> heading;
  // raw data angles are in hundredths of a degree, convert to radians.
  heading = (static_cast<double>(inertia.data.angle) / 100.0) * ecl::pi / 180.0;
  return ecl::wrap_angle(heading - heading_offset);
}
}
  
double Kobuki::getAngularVelocity() const
{
  // raw data angles are in hundredths of a degree, convert to radians.
  return (static_cast<double>(inertia.data.angle_rate) / 100.0) * ecl::pi / 180.0;
}}