From 36dfbc955ea6a890354c3aac4538fd6e2dd24089 Mon Sep 17 00:00:00 2001
From: Stevedan Ogochukwu Omodolor <stevedan.o.omodolor@gmail.com>
Date: Thu, 26 May 2022 11:57:36 +0200
Subject: [PATCH] corrected units
---
.../src/robot_state.cpp | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/real_robot/coordination_formation_control_pkg/src/robot_state.cpp b/real_robot/coordination_formation_control_pkg/src/robot_state.cpp
index 6b9ffcf..2b8d783 100644
--- a/real_robot/coordination_formation_control_pkg/src/robot_state.cpp
+++ b/real_robot/coordination_formation_control_pkg/src/robot_state.cpp
@@ -89,15 +89,15 @@ void robotState::stateCallbackUgvPose(const geometry_msgs::PoseConstPtr &pose_ms
}
void robotState::stateCallbackUavVel(const crazyswarm::GenericLogDataConstPtr &vel_msg)
{
- this->state.p(0) = vel_msg->values[0];
- this->state.p(1) = vel_msg->values[1];
- this->state.p(2) = vel_msg->values[2];
+ this->state.p(0) = vel_msg->values[0]/1000.0;
+ this->state.p(1) = vel_msg->values[1]/1000.0;
+ this->state.p(2) = vel_msg->values[2]/1000.0;
}
void robotState::stateCallbackUavPos(const crazyswarm::GenericLogDataConstPtr &pose_msg)
{
- this->state.q(0) = pose_msg->values[0];
- this->state.q(1) = pose_msg->values[1];
- this->state.q(2) = pose_msg->values[2];
+ this->state.q(0) = pose_msg->values[0]/1000.0;
+ this->state.q(1) = pose_msg->values[1]/1000.0;
+ this->state.q(2) = pose_msg->values[2]/1000.0;
this->state.q(3) = pose_msg->values[3]; // degres
}
@@ -113,7 +113,7 @@ void robotState::stateCallbackUgvAcc(const geometry_msgs::Vector3ConstPtr &acc_m
void robotState::stateCallbackUavAcc(const crazyswarm::GenericLogDataConstPtr &Acc_msg)
{
- this->state.a(0) = Acc_msg->values[0];
- this->state.a(1) = Acc_msg->values[1];
- this->state.a(2) = Acc_msg->values[2];
+ this->state.a(0) = Acc_msg->values[0]/1000.0;
+ this->state.a(1) = Acc_msg->values[1]/1000.0;
+ this->state.a(2) = Acc_msg->values[2]/1000.0;
}
--
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