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halve bubble dimensions

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This commit is contained in:
Sabeeh Khan
2021-09-16 15:08:17 -05:00
parent 2f2377e375
commit f3c5afff3b
1 changed files with 4 additions and 5 deletions
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9
autonomous_robotics_ros/src/ti_safety_bubble/src/odomListener.cpp
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@@ -107,7 +107,6 @@ void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr& msg)
void orientationCallback(const std_msgs::Float32::ConstPtr& msg) void orientationCallback(const std_msgs::Float32::ConstPtr& msg)
{ {
yaw = (double) msg->data; yaw = (double) msg->data;
ROS_INFO("%f", yaw);
} }
/** /**
@@ -296,11 +295,11 @@ int main(int argc, char **argv)
point.x = py; point.x = py;
point.y = px; point.y = px;
Point2D rotated = rotatePoint(point); Point2D rotated = rotatePoint(point);
double diffWidth = abs(tempRobotX - rotated.x); double diffLength = abs(tempRobotX - rotated.x);
double diffLength = abs(tempRobotY - rotated.y); double diffWidth = abs(tempRobotY - rotated.y);
if (innerLength >= diffLength && innerWidth >= diffWidth) { if (innerLength/2 >= diffLength && innerWidth/2 >= diffWidth) {
stopFlag = true; stopFlag = true;
} else if (outerLength >= diffLength && outerWidth >= diffWidth) { } else if (outerLength/2 >= diffLength && outerWidth/2 >= diffWidth) {
slowFlag = true; slowFlag = true;
} }
} }