modelec/TCPSocketServer
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ackimixs
2024-05-03 12:43:32 +02:00
parent 3beb77c6a3
commit df9508090f
1 changed files with 1 additions and 1 deletions
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TCPServer.cpp
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@@ -683,7 +683,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
auto [xPrime, yPrime] = arucoTag.pos();
double roll = arucoTag.rot()[1];
auto centerPlantX = (20 * std::cos(roll)) + xPrime;
auto centerPlantX = (20 * std::cos(roll)) + xPrime - 20;
auto centerPlantY = (-20 * std::sin(roll)) + yPrime + decalage;
double thetaPrime = std::atan2(centerPlantY, centerPlantX);