From 41d165523ca41fb125d74c5b41116171f4f94edf Mon Sep 17 00:00:00 2001 From: acki Date: Tue, 27 May 2025 23:14:21 -0400 Subject: [PATCH] redo --- src/modelec_strat/src/enemy_manager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modelec_strat/src/enemy_manager.cpp b/src/modelec_strat/src/enemy_manager.cpp index d0ad237..a405275 100644 --- a/src/modelec_strat/src/enemy_manager.cpp +++ b/src/modelec_strat/src/enemy_manager.cpp @@ -165,8 +165,8 @@ namespace Modelec double y_local = range * std::sin(angle) * 1000.0; // meters -> mm // Rotate + translate into global frame - double x_global = robot_x + (x_local * std::cos(robot_theta) + y_local * std::sin(robot_theta)); - double y_global = robot_y - (x_local * std::sin(robot_theta) - y_local * std::cos(robot_theta)); + double x_global = robot_x + (x_local * std::cos(robot_theta) - y_local * std::sin(robot_theta)); + double y_global = robot_y + (x_local * std::sin(robot_theta) + y_local * std::cos(robot_theta)); // Ignore points outside of the table if (x_global < 0 || x_global > map_width_ || y_global < 0 || y_global > map_height_)