Revision 1019
Theta changes now.
| motion.c | ||
|---|---|---|
| 47 | 47 |
|
| 48 | 48 |
double newx = radius * sin(t); |
| 49 | 49 |
double newy = radius - radius * cos(t); |
| 50 |
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|
| 50 |
|
|
| 51 | 51 |
r->pose.x += newx * cos(theta); |
| 52 | 52 |
r->pose.y += newx * sin(theta); |
| 53 | 53 |
|
| 54 | 54 |
r->pose.x += newy * - sin(theta); |
| 55 | 55 |
r->pose.y += newy * cos(theta); |
| 56 |
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|
| 57 |
r->pose.theta = fmod((t + theta), (2 * M_PI)); |
|
| 56 |
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|
| 57 |
int divide = (t+r->pose.theta)/(2 * M_PI); |
|
| 58 |
r->pose.theta = (t+r->pose.theta) - (2 * M_PI * divide); |
|
| 58 | 59 |
if (r->pose.theta<0) r->pose.theta += 2 * M_PI; |
| 59 | 60 |
|
| 60 | 61 |
return 0; |
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