modelec/TCPSocketServer
1
0
Fork 0
mirror of https://github.com/modelec/TCPSocketServer.git synced 2026-01-19 00:47:36 +01:00
Code Issues Packages Projects Releases Wiki Activity

distance

Browse Source
This commit is contained in:
ackimixs
2024-05-02 20:01:14 +02:00
parent d5f3ac92b4
commit 5a148704a0
1 changed files with 1 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
TCPServer.cpp
View File

@@ -676,9 +676,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double yPrime = arucoTag.pos()[1];
double roll = arucoTag.rot()[1];
double test = (xPrime - 400) * 0.1;
auto centerPlantX = (20 * std::cos(roll)) + xPrime + test;
auto centerPlantX = (20 * std::cos(roll)) + xPrime;
auto centerPlantY = (-20 * std::sin(roll)) + yPrime + decalage;
double thetaPrime = std::atan2(centerPlantY, centerPlantX);