modelec/TCPSocketServer
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ackimixs
2024-04-10 20:48:09 +02:00
parent b9a8188eaf
commit 2b4c25f49f
1 changed files with 2 additions and 2 deletions
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4
TCPServer.cpp
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@@ -338,8 +338,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
this->broadcastMessage(toSend);
double xPrime = arucoTagPos.pos.second[0];
double yPrime = arucoTagPos.pos.second[1] + decalage;
double xPrime = arucoTagPos.pos.first[0];
double yPrime = arucoTagPos.pos.first[1] + decalage;
double x = (xPrime * std::cos(robotPose.theta) + yPrime * std::sin(robotPose.theta)) + this->robotPose.pos.x;
double y = (-xPrime * std::sin(robotPose.theta) + yPrime * std::cos(robotPose.theta)) + this->robotPose.pos.y;