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iRobotEducation / create3_sim

ROS 2 Simulation for the iRobot® Create® 3 Educational Robot
BSD 3-Clause "New" or "Revised" License
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Use `angles` library for math operations #157

Open alsora opened 2 years ago

alsora commented 2 years ago

Is your feature request related to a problem? Please describe. There are some operations on angles in the irobot_create_toolbox package. Rather than implementing them here, we should rely on the angles library that is already a dependency of the project.

ckavanagh21 commented 1 year ago

Can you be more specific about where the math regarding angles is? I want to help if I can.

alsora commented 1 year ago

Hi, you can find the functions here https://github.com/iRobotEducation/create3_sim/blob/main/irobot_create_common/irobot_create_toolbox/include/irobot_create_toolbox/math.hpp

ckavanagh21 commented 1 year ago

This is what I was able to come up with. I don't know how to run C++ files, so I couldn't test it. I just looked up the syntax for the angles library and modified the code. Do you think this looks right? Also, does the polar_coordinates.hpp file have to be changed as well?