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Applied patch #3026117: Position velocity fix

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1 parent 549c578 commit 66367b5b13f309a2c2f51ed2ef746833b19d7bec Rich Mattes committed Sep 15, 2010
Showing with 2 additions and 2 deletions.
  1. +1 −1 libstage/model.cc
  2. +1 −1 libstage/model_position.cc
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2 libstage/model.cc
@@ -901,7 +901,7 @@ void Model::UpdatePose( void )
return;
// convert usec to sec
- double interval( (double)interval_pose / 1e6 );
+ double interval( (double)world->sim_interval / 1e6 );
// find the change of pose due to our velocity vector
Pose p( velocity.x * interval,
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2 libstage/model_position.cc
@@ -389,7 +389,7 @@ void ModelPosition::Update( void )
case LOCALIZATION_ODOM:
{
// integrate our velocities to get an 'odometry' position estimate.
- double dt = interval / 1e6; // update interval convert to seconds
+ double dt = world->sim_interval / 1e6; // update interval convert to seconds
est_pose.a = normalize( est_pose.a + (vel.a * dt) * (1.0 +integration_error.a) );

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