umbmark correction

[ros_wild_thumper.git] / scripts / umbmark.py

diff --git a/scripts/umbmark.py b/scripts/umbmark.py
index d103b5c0abf277b6afb0f0a9b544f9ce503af549..f031a675b9bf1e25855e27b16100509795a5dd96 100755 (executable)
--- a/scripts/umbmark.py
+++ b/scripts/umbmark.py
@@ -21,10 +21,14 @@
 # beta = (y_cg_cw + y_cg_ccw)/(-4*L)
 # R = (L/2)/sin(beta/2)
 # Ed = Dr/Dl*(R+b/2)/(R-b/2)
+# Da = (Dr + Dl)/2
+# Dl = 2/(Ed + 1) * Da
+# Dr = 2/((1/Ed) + 1) * Da
 # 
 # Wheelbase correction:
 # alpha = (y_cg_cw - y_cg_ccw)/(-4*L) * 180/pi
 # Eb = (90)/(90-alpha)
+# b_new = Eb*b
 
 import sys
 import rospy
@@ -82,7 +86,7 @@ class UMBMark:
                        self.next_pos(2, 0, 0)
                        self.next_pos(0, 0, direction*90*pi/180)
                final_pose = map(operator.sub, self.odom_pose, init_pose)
-               print "Odom Pose: x=%.2f, y=%.2f, angle=%.2f°" % (final_pose[0], final_pose[1], final_pose[2]*180/pi)
+               print "Odom Pose: x=%.3f, y=%.3f, angle=%.3f°" % (final_pose[0], final_pose[1], final_pose[2]*180/pi)
 
        def run_cw(self):
                self.run(-1)