Comments (4)
ytgui
commented on July 29, 2024
Hi,
I also find that bug these days, and I'm confused why there is a math error but this lib could run correctly.
I think that because xFacInv or yFacInv are both weight value in range (0,1), and dx,dy decide the positive or negative. A multiplication of dx1*xFacInv is same to k * dy1 * yFacInv.
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watcherZY
commented on July 29, 2024
i have confirmed that you are correct , i used a same rosbag to test -((dx1 * xFacInv) + (dx2 * factors[0])),
-((dy1 * yFacInv) + (dy2 * factors[1])) AND -((dx1 * yFacInv) + (dx2 * factors[1])),
-((dy1 * xFacInv) + (dy2 * factors[0])). the second one works much better! and dosen^t become disorder when the robot rotation
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jondo
commented on July 29, 2024
Why was this closed?
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StefanFabian
commented on July 29, 2024
I've closed all issues older than 5 years due to their age but you're right, this one may still be relevant.
I'm not sure if @skohlbr will have the time to look at this, though.
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