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Question about turtle_tf transformlistener

asked 2012-02-01 04:37:30 -0500

Mike Gao gravatar image

Hi, recently I am learning tf package. I have read the tutorials, but have a small questions concerning the source code of transformlistener, which is: "vel_msg.angular = 4 * atan2(transform.getOrigin().y(), transform.getOrigin().x());" in the line 35. Why dose it need to multiply 4 here? For the aim of more quickly tracking? I know the scale value for keyboard control is 2, but it should be irrelevant to this, as this is calculated from the coordination. Appreciation for any help!

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answered 2012-02-01 06:39:04 -0500

Lorenz gravatar image

I believe the 4 is just a random scaling factor. A higher value just leads to a quicker rotation but I don't think there is a specific reason for exactly choosing 4.

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Asked: 2012-02-01 04:37:30 -0500

Seen: 188 times

Last updated: Jun 15 '12