modelec/TCPSocketServer
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ackimixs
2024-04-10 20:52:06 +02:00
parent 7639ab90c6
commit 617a1f27d3
1 changed files with 2 additions and 0 deletions
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TCPServer.cpp
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@@ -340,6 +340,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
double xPrime = arucoTagPos.pos.first[0];
double yPrime = arucoTagPos.pos.first[1] + decalage;
std::cout << "Aruco position1 " << xPrime << " " << yPrime << std::endl;
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;