modelec/modelec-marcel-ROS
1
0
Fork 0
mirror of https://github.com/modelec/modelec-marcel-ROS.git synced 2026-01-18 16:47:43 +01:00
Code Issues Packages Projects Releases Wiki Activity

test

Browse Source
This commit is contained in:
acki
2025-05-27 23:08:22 -04:00
parent 5e4000d017
commit aea05775a4
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/modelec_strat/src/enemy_manager.cpp
View File

@@ -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_)