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Sem van der Hoeven
2023-06-12 15:18:04 +02:00
parent 8cb03ec4e7
commit f56bd7f735
1 changed files with 6 additions and 6 deletions
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12
src/drone_controls/src/PositionChanger.cpp
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@@ -225,7 +225,7 @@ public:
{
if (!this->move_direction_allowed[MOVE_DIRECTION_FRONT])
{
RCLCPP_INFO(this->get_logger(), "Collision prevention front: %d", collision_prevention_weights[MOVE_DIRECTION_FRONT])
RCLCPP_INFO(this->get_logger(), "Collision prevention front: %d", collision_prevention_weights[MOVE_DIRECTION_FRONT]);
get_x_y_with_rotation(collision_prevention_weights[MOVE_DIRECTION_FRONT], 0, this->current_yaw, &this->current_speed_x, &this->current_speed_y);
}
}
@@ -233,7 +233,7 @@ public:
{
if (!this->move_direction_allowed[MOVE_DIRECTION_BACK])
{
RCLCPP_INFO(this->get_logger(), "Collision prevention back: %d", collision_prevention_weights[MOVE_DIRECTION_BACK])
RCLCPP_INFO(this->get_logger(), "Collision prevention back: %d", collision_prevention_weights[MOVE_DIRECTION_BACK]);
get_x_y_with_rotation(collision_prevention_weights[MOVE_DIRECTION_BACK], 0, this->current_yaw, &this->current_speed_x, &this->current_speed_y);
}
}
@@ -241,16 +241,16 @@ public:
{
if (!this->move_direction_allowed[MOVE_DIRECTION_RIGHT])
{
RCLCPP_INFO(this->get_logger(), "Collision prevention right: %d", collision_prevention_weights[MOVE_DIRECTION_RIGHT])
get_x_y_with_rotation(0,collision_prevention_weights[MOVE_DIRECTION_RIGHT], this->current_yaw, &this->current_speed_x, &this->current_speed_y)
RCLCPP_INFO(this->get_logger(), "Collision prevention right: %d", collision_prevention_weights[MOVE_DIRECTION_RIGHT]);
get_x_y_with_rotation(0, collision_prevention_weights[MOVE_DIRECTION_RIGHT], this->current_yaw, &this->current_speed_x, &this->current_speed_y);
}
}
else // moving left
{
if (!this->move_direction_allowed[MOVE_DIRECTION_LEFT])
{
RCLCPP_INFO(this->get_logger(), "Collision prevention left: %d", collision_prevention_weights[MOVE_DIRECTION_LEFT])
get_x_y_with_rotation(0,collision_prevention_weights[MOVE_DIRECTION_LEFT], this->current_yaw, &this->current_speed_x, &this->current_speed_y)
RCLCPP_INFO(this->get_logger(), "Collision prevention left: %d", collision_prevention_weights[MOVE_DIRECTION_LEFT]);
get_x_y_with_rotation(0, collision_prevention_weights[MOVE_DIRECTION_LEFT], this->current_yaw, &this->current_speed_x, &this->current_speed_y);
}
}
}