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This is an archived project. Repository and other project resources are read-only.
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Regler
omnibots
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!1
Fix degree/radian bug
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Merged
Fix degree/radian bug
albheim-master-patch-30031
into
master
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Merged
Fix degree/radian bug
Albin Heimerson
requested to merge
albheim-master-patch-30031
into
master
Apr 19, 2022
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a8ed177d
1 commit,
Apr 19, 2022
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@@ -168,12 +168,12 @@ class CrazyLogger:
@@ -168,12 +168,12 @@ class CrazyLogger:
def
x
(
self
):
def
x
(
self
):
"""
Return x-position of robot center
"""
"""
Return x-position of robot center
"""
# Note that the offset of the crazyflie mount position is included
# Note that the offset of the crazyflie mount position is included
return
self
.
_state
[
0
]
-
np
.
sin
(
self
.
_state
[
3
])
*
self
.
_position_offset
return
self
.
_state
[
0
]
-
np
.
sin
(
np
.
deg2rad
(
self
.
_state
[
3
])
)
*
self
.
_position_offset
def
y
(
self
):
def
y
(
self
):
"""
Return y-position of robot center
"""
"""
Return y-position of robot center
"""
# Note that the offset of the crazyflie mount position is included
# Note that the offset of the crazyflie mount position is included
return
self
.
_state
[
1
]
+
np
.
cos
(
self
.
_state
[
3
])
*
self
.
_position_offset
return
self
.
_state
[
1
]
+
np
.
cos
(
np
.
deg2rad
(
self
.
_state
[
3
])
)
*
self
.
_position_offset
def
z
(
self
):
def
z
(
self
):
"""
Return z-position of robot center
"""
"""
Return z-position of robot center
"""
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