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fixed shortest angular distance calculation #101

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merged 1 commit into from Feb 20, 2018
Merged

fixed shortest angular distance calculation #101

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3 changes: 2 additions & 1 deletion cob_linear_nav/CMakeLists.txt
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Expand Up @@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
project(cob_linear_nav)

find_package(catkin REQUIRED COMPONENTS
angles
actionlib
cob_srvs
geometry_msgs
Expand Down Expand Up @@ -29,4 +30,4 @@ install(TARGETS cob_linear_nav
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
)
1 change: 1 addition & 0 deletions cob_linear_nav/package.xml
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Expand Up @@ -16,6 +16,7 @@

<buildtool_depend>catkin</buildtool_depend>

<depend>angles</depend>
<depend>actionlib</depend>
<depend>cob_srvs</depend>
<depend>geometry_msgs</depend>
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4 changes: 2 additions & 2 deletions cob_linear_nav/src/cob_linear_nav.cpp
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Expand Up @@ -23,6 +23,7 @@

// ROS includes
#include <ros/ros.h>
#include <angles/angles.h>

#include <pthread.h>

Expand Down Expand Up @@ -407,8 +408,7 @@ double NodeClass::sign(double x) {
}

double NodeClass::getThetaDiffRad(double target, double actual) {
if(fabs(target - actual) <= M_PI) return (target - actual);
else return sign(target - actual) * -2.0f * M_PI - (target - actual);
return angles::shortest_angular_distance(actual, target);
}

void NodeClass::publishVelocitiesGlobal(double vx, double vy, double theta) {
Expand Down