Revision: 7988
http://playerstage.svn.sourceforge.net/playerstage/?rev=7988&view=rev
Author: robotos
Date: 2009-07-11 01:08:17 +0000 (Sat, 11 Jul 2009)
Log Message:
-----------
Revert previous patch on the radious of the differential controller
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
2009-07-10 22:33:41 UTC (rev 7987)
+++
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2009-07-11 01:08:17 UTC (rev 7988)
@@ -188,10 +188,10 @@
//if (this->enableMotors)
{
this->joints[LEFT]->SetParam( dParamVel,
- this->wheelSpeed[LEFT] /
**(this->wheelDiamP) / 2.0 );
+ this->wheelSpeed[LEFT] /
(**(this->wheelDiamP) / 2.0) );
this->joints[RIGHT]->SetParam( dParamVel,
- this->wheelSpeed[RIGHT] /
**(this->wheelDiamP) / 2.0 );
+ this->wheelSpeed[RIGHT] /
(**(this->wheelDiamP) / 2.0) );
this->joints[LEFT]->SetParam( dParamFMax, **(this->torqueP) );
this->joints[RIGHT]->SetParam( dParamFMax, **(this->torqueP) );
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