Revision history [back]

I don't know if I can answer your specific question, but this is a good source for learning about how to calculate the odometry:

http://rossum.sourceforge.net/papers/DiffSteer/

-Jon

I don't know if I can answer your specific question, but this is a good source for learning about how to calculate the odometry:

http://rossum.sourceforge.net/papers/DiffSteer/

-Jon

I don't know if I can answer your specific question, but this is a good source for learning about how to calculate the odometry:

http://rossum.sourceforge.net/papers/DiffSteer/

-Jon

It appears that the global coordinate frame (self.x, self.y and self.th in driver.py) has +y to the left. But the coordinate frame for the change in position (x,y, and th in driver.py) has +y to the right.

It seems unlikely to me that that is what the original author intended. It's probably either a bug that doesn't matter in the end, or maybe an artifact of the odometry that supplies data to driver.py.

I don't know if I can answer your specific question, but this is a good source for learning about how to calculate the odometry:

http://rossum.sourceforge.net/papers/DiffSteer/

-Jon

(EDIT): It appears that the global coordinate frame (self.x, self.y and self.th in driver.py) has +y to the left. But the coordinate frame for the change in position (x,y, and th in driver.py) has +y to the right.

It seems unlikely to me that that is what the original author intended. It's probably either a bug that doesn't matter in the end, or maybe an artifact of the odometry that supplies data to driver.py.