void SpecificWorker::setSpeedBase(const float advx, const float advz, const float rotv) { computeOdometry(true); QMutexLocker locker(mutex); const QVec v = QVec::vec3(advz, advx, rotv); const QVec wheels = M_vels_2_wheels * v; setWheels(wheels); }
void SpecificWorker::stopBase() { setWheels(QVec::vec4(0,0,0,0)); }
void SpecificWorker::compute() { setWheels(wheelVels); computeOdometry(false); }