Revert change from negating angle

equinor · Jun 9, 2023 · ef27555 · ef27555
1 parent b2b2aa5
commit ef27555
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Showing 2 changed files with 4 additions and 8 deletions.
diff --git a/backend/api.test/Database/Models.cs b/backend/api.test/Database/Models.cs
@@ -42,10 +42,7 @@ public void AssertCoordinateConversion()
                 predefinedOrientation
             );
 
-            var flotillaPose = new Pose(
-                echoPose.Position,
-                echoPose.Orientation.Angle
-            );
+            var flotillaPose = new Pose(echoPose.Position, echoPose.Orientation.Angle);
             Assert.Equal(predefinedOrientation, flotillaPose.Orientation);
         }
 
@@ -67,7 +64,7 @@ private static AxisAngle ConvertOrientation(Orientation orientation)
             if (orientation.Z >= 0)
                 angle = 2 * MathF.Acos(qw);
 
-            return new AxisAngle(new EchoVector(0, 0, 1), -angle);
+            return new AxisAngle(new EchoVector(0, 0, 1), angle);
         }
 
         public class AxisAngle

diff --git a/backend/api/Database/Models/Pose.cs b/backend/api/Database/Models/Pose.cs
@@ -91,7 +91,7 @@ public class Pose
         [Required]
         public Orientation Orientation { get; set; }
 
-        // Since this is a ground robot the only quaternion vector 
+        // Since this is a ground robot the only quaternion vector
         // that makes sense is up (0, 0, 1)
         public Orientation AxisAngleToQuaternion(float angle)
         {
@@ -127,9 +127,8 @@ float w
 
         public Pose(EchoVector enuPosition, float angle)
         {
-            float clockAngle = -angle;
             Position = new Position(enuPosition.East, enuPosition.North, enuPosition.Up);
-            Orientation = AxisAngleToQuaternion(clockAngle);
+            Orientation = AxisAngleToQuaternion(angle);
         }
 
         public Pose(Position position, Orientation orientation)