Re: [Playerstage-users] angular difference between robot heading and a fixed point on map

[Rich M. <jp...@gm...>]

On 12/30/2012 12:55 PM, Karan Vidyut wrote:
> Hello all!
>
> How do I compute the angular difference between the robot heading and
> a fixed point on the map? If I use atan2(delta_x, delta_y) where
> delta_x and delta_y is the difference in x and y co-ordinates between
> robot and fixed point then I am not using any information about the
> angular orientation of the robot about its own axis. I want to develop
> a simple proportional controller for reaching a fixed point in the
> map.
>
> player version 2.1.2
> stage version 2.1.1
> ubuntu 8.04
>
> thanks in advance
>

Once you have the angle from the atan2 function, you should compare it 
to the robot's yaw angle to get the error between your desired and 
current heading.

Rich