updating forward_kinematics.cpp

ros-controls · Jan 8, 2025 · 8f61d10 · 8f61d10
1 parent 8791513
commit 8f61d10
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/steering_controllers_library/src/forward_kinematics.cpp b/steering_controllers_library/src/forward_kinematics.cpp
@@ -7,12 +7,11 @@ struct Odometry {
 };
 
 Odometry ForwardKinematics::calculate(double linear_velocity, double angular_velocity) {
-    // Implement your forward kinematics calculation logic here
-    // Example placeholder calculation
+
     Odometry odom_result;
-    odom_result.x = linear_velocity * params_.wheel_base;  // Replace with correct formula
-    odom_result.y = 0.0;  // Adjust if side motion is modeled
-    odom_result.theta = angular_velocity;  // Adjust if needed
+    odom_result.x = linear_velocity * params_.wheel_base;  
+    odom_result.y = 0.0;  
+    odom_result.theta = angular_velocity;  
 
     return odom_result;
 }