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corrects commander_atan

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This commit is contained in:
Louis-Guillaume DUBOIS 2015-05-29 21:54:58 +02:00
parent 17a90f6d41
commit ae36147f73
1 changed files with 12 additions and 13 deletions
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25
src/commander_atan.cpp
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@ -77,28 +77,27 @@ class Run
geometry_msgs::Twist::Ptr mvt(new geometry_msgs::Twist());
if (fabs(in.y) > fabs(in.x))
{
out.y = f.y(in.y);
if (out.y > min.y)
mvt->linear.y = out.y;
} else { {
out.x = f.x(in.x);
if (out.x > min.x)
mvt->linear.x = out.x;
}
// if (fabs(in.y) > fabs(in.x))
// {
out.y = f.y(in.y);
if (fabs(out.y) > min.y)
mvt->linear.y = out.y;
// } else {
out.x = f.x(in.x);
if (fabs(out.x) > min.x)
mvt->linear.x = out.x;
// }
out.z = f.z(in.z);
if (out.z > min.z)
if (fabs(out.z) > min.z)
mvt->linear.z = out.z;
out.th = f.th(in.th);
if (out.th > min.th)
if (fabs(out.th) > min.th)
mvt->angular.z = out.th;
pub.publish(mvt);
ROS_INFO("cmd published");
}
}
void reconfigure(const hand_control::Commander_atanConfig& c, const uint32_t& level)