woshidag's profile - activity

overview network karma followed questions activity

2016-06-02 22:01:59 -0500 received badge ● Enthusiast

2016-04-24 10:00:06 -0500

answered a question

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;
}