Subject:
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Re: Navigation & Encoders
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Wed, 5 May 1999 16:48:26 GMT
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Original-From:
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SHETTI.NITIN.MANGESH <SHETTIN@GIASBMC.VSNLnospam.NET.IN>
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Viewed:
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976 times
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> I know this is not really handyboard specific but hey... Does anybody know
> the equation for finding a heading (theta) from a current position P(x,y) to
> a goal position G(x,y). I sure there's a tangent in there somewhere but
> I've already dredged up more trigonometry than I care to remember
> implementing these shaft encoders.
Dear Andrew,
You want the angle that line joining G and P make with X axis.
That is arctan of the slope of the line from P to G.
slope =(yP-yG)/(xP-xG)
hence, theta = arctan ((yP-yG)/(xP-xG))
where P=(xP,yP) and G=(xG,yG)
Note that this angle should be always measured wrt positive
direction of X axis.If slope of line is negative, the angle with positive
direction of X axis is obtuse. Add PI to -arctan of absolute value of the
slope.
I hope this helps.
Yours sincerely,
Nitin
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Message is in Reply To:
 | | Navigation & Encoders
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| I know this is not really handyboard specific but hey... Does anybody know the equation for finding a heading (theta) from a current position P(x,y) to a goal position G(x,y). I sure there's a tangent in there somewhere but I've already dredged up (...) (25 years ago, 4-May-99, to lugnet.robotics.handyboard)
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