umbmark correction

[ros_wild_thumper.git] / scripts / umbmark.py

diff --git a/scripts/umbmark.py b/scripts/umbmark.py
index e6bb5d5394f5360b44cd47e072db5b1d1e038f82..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)
 # 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)
 # 
 # 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
 
 import sys
 import rospy