[Feature] Adjust locomotion function for dynamic kick #28
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…suiryoku into feature/adjust-function-for-dynamic-kick
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…:ichiro-its/suiryoku into feature/adjust-function-for-dynamic-kick
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Jira Link:
Description
Mainly change the function for positioning, so when dynamic kick is allowed, the range of pan and tilt is adjusted to allow wider range of pan tilt, thus making positioning easier. The tilt range is exponentially mapped because the relationship between pan and tilt for same ball distance from the robot, but different 'left-right' position is not linear.
This PR is together with:
Soccer
Keisan
and later on in akushon.
Type of Change
How Has This Been Tested?
Checklist:
feature/JIRA-ID-SHORT-DESCRIPTIONif has a JIRA ticketenhancement/SHORT-DESCRIPTIONif has/has no JIRA ticket and contain enhancementhotfix/SHORT-DESCRIPTIONif the change doesn't need to be tested (urgent)