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Adds yaw offset property #6

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Rauldg wants to merge 1 commit into from
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Adds yaw offset property #6

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4 changes: 3 additions & 1 deletion odometry.orogen
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Original file line number Diff line number Diff line change
Expand Up @@ -30,6 +30,9 @@ task_context 'Generic' do
property('start_pose', '/base/samples/RigidBodyState').
doc "starting position for odometry"

property('yaw_offset', 'double', 0.0).
doc "adds this yaw to the body_to_IMUWorld"

##########################
# i/o ports
##########################
Expand Down Expand Up @@ -168,4 +171,3 @@ task_context 'ContactPointTask' do

port_driven 'dynamic_transformations'
end

6 changes: 6 additions & 0 deletions tasks/Skid.cpp
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Expand Up @@ -97,6 +97,12 @@ void Skid::actuator_samplesTransformerCallback(const base::Time &ts, const base:

// calculates the rotation from body to world base on the orientation measurment
Eigen::Quaterniond R_body2World(body2IMUWorld.rotation());
double yaw_offset = _yaw_offset.get();
if( yaw_offset != 0 )
{
Eigen::AngleAxisd yaw(yaw_offset, Eigen::Vector3d::UnitZ());
R_body2World = yaw * R_body2World;
}

if(!usePosition)
{
Expand Down