Use "pose change" instead of "velocities" for (dxy_mm, dtheta_degrees, dt_seconds)

2018-06-03 14:38:07 -04:00
parent 8934a3370f
commit 081d33aedf
23 changed files with 113 additions and 135 deletions
--- a/examples/log2pgm.py
+++ b/examples/log2pgm.py
@@ -94,8 +94,8 @@ def main():
    
        if use_odometry:
                  
-            # Convert odometry to velocities
-            velocities = robot.computeVelocities(odometries[scanno])
+            # Convert odometry to pose change (dxy_mm, dtheta_degrees, dt_seconds)
+            velocities = robot.computePoseChange(odometries[scanno])
                                 
            # Update SLAM with lidar and velocities
            slam.update(lidars[scanno], velocities)