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The initialization should consider different referentials #5

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agarie opened this issue Jun 5, 2016 · 0 comments
Open

The initialization should consider different referentials #5

agarie opened this issue Jun 5, 2016 · 0 comments

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@agarie
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agarie commented Jun 5, 2016

I have to rewrite the math, but it's simple. There should be a referential O for the world map (i.e. the origin of histogram_grid), O' for the origin of the dynamic window (this should be maintained by the library) and O'' for the robot (i.e. the geometric center of the robot).
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