Merge pull request #32 from ichiro-its/hotfix/fix-positioning-center-90-deg

hiikariri · web-flow · commit 98cb1dbcfd97 · 2024-07-01T23:04:14.000+07:00
[Hotfix] Fix center positioning for 90 degree kick
diff --git a/src/suiryoku/locomotion/process/locomotion.cpp b/src/suiryoku/locomotion/process/locomotion.cpp
@@ -911,7 +911,7 @@ bool Locomotion::position_kick_range_pan_tilt(const keisan::Angle<double> & dire
   auto target_pan = left_kick ? left_kick_target_pan : right_kick_target_pan;
 
   if (is_positioning_center) {
-    target_pan = (left_kick) ? position_center_left_range_pan : -position_center_right_range_pan;
+    target_pan = (left_kick) ? -position_center_right_range_pan : position_center_left_range_pan;
   }
 
   double delta_pan = (target_pan - pan).degree();

Original file line number	Diff line number	Diff line change
`@@ -911,7 +911,7 @@ bool Locomotion::position_kick_range_pan_tilt(const keisan::Angle<double> & dire`
`911`	`911`	`auto target_pan = left_kick ? left_kick_target_pan : right_kick_target_pan;`
`912`	`912`
`913`	`913`	`if (is_positioning_center) {`
`914`		`- target_pan = (left_kick) ? position_center_left_range_pan : -position_center_right_range_pan;`
	`914`	`+ target_pan = (left_kick) ? -position_center_right_range_pan : position_center_left_range_pan;`
`915`	`915`	`}`
`916`	`916`
`917`	`917`	`double delta_pan = (target_pan - pan).degree();`