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ackimixs
2024-04-30 16:51:44 +02:00
parent 8b69b38877
commit e663fbf33c
1 changed files with 3 additions and 1 deletions
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TCPServer.cpp
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@@ -670,7 +670,9 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
double yPrime = arucoTag.pos()[1];
double roll = arucoTag.rot()[1];
auto centerPlantX = (20 * std::cos(roll)) + xPrime;
double test = (xPrime - 500) * 0.1;
auto centerPlantX = (20 * std::cos(roll)) + xPrime + test;
auto centerPlantY = (-20 * std::sin(roll)) + yPrime + decalage;
double thetaPrime = std::atan2(centerPlantY, centerPlantX);