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add checking of request angle

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Sem van der Hoeven
2023-05-25 12:42:59 +02:00
parent f5c50f366f
commit d59da4f5ac
1 changed files with 7 additions and 1 deletions
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8
src/drone_controls/src/PositionChanger.cpp
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@@ -168,7 +168,13 @@ public:
{ {
RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle); RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle);
// TODO add check_move_direction_allowed results to this calculation // TODO add check_move_direction_allowed results to this calculation
this->current_yaw += (float)(((double)request->angle % 360.0) * (M_PI / 180.0)); // get the angle in radians if (request->angle > 360 || request->angle < -360)
{
RCLCPP_ERROR(this->get_logger(), "Angle is not in range [-360, 360]");
response->success = false;
return;
}
this->current_yaw += request->angle * (M_PI / 180.0); // get the angle in radians
get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y); get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y);
RCLCPP_INFO(this->get_logger(), "Calculated speed x: %f, y: %f", this->current_speed_x, this->current_speed_y); RCLCPP_INFO(this->get_logger(), "Calculated speed x: %f, y: %f", this->current_speed_x, this->current_speed_y);
send_trajectory_message(); send_trajectory_message();