Revision: 6490
http://playerstage.svn.sourceforge.net/playerstage/?rev=6490&view=rev
Author: robotos
Date: 2008-06-09 08:24:07 -0700 (Mon, 09 Jun 2008)
Log Message:
-----------
Change suggested by J?\195?\169r?\195?\180me M. Berger
Correct heading for yaw command.
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
Modified:
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2008-06-09 07:25:44 UTC (rev 6489)
+++
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2008-06-09 15:24:07 UTC (rev 6490)
@@ -204,8 +204,8 @@
this->enableMotors = this->myIface->data->cmdEnableMotors > 0;
- this->wheelSpeed[LEFT] = vr - va * this->wheelSep / 2;
- this->wheelSpeed[RIGHT] = vr + va * this->wheelSep / 2;
+ this->wheelSpeed[LEFT] = vr + va * this->wheelSep / 2;
+ this->wheelSpeed[RIGHT] = vr - va * this->wheelSep / 2;
this->myIface->Unlock();
}
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