Merge branch 'sunghyuneun/euclidean_debug' of https://github.com/sunghyuneun/tb-software into sunghyuneun/euclidean_debug

sunghyuneun · sunghyuneun · commit 11cb3c14fe9f · 2026-05-26T14:19:00.000-07:00
diff --git a/src/software/physics/euclidean_to_wheel.cpp b/src/software/physics/euclidean_to_wheel.cpp
@@ -53,7 +53,8 @@ EuclideanToWheel::EuclideanToWheel(const robot_constants::RobotConstants& robot_
 
     // Calculate Pseudo-inverse dynamically
 
-    wheel_to_euclidean_velocity_D_inverse_ = euclidean_to_wheel_velocity_D_.completeOrthogonalDecomposition().pseudoInverse();
+    wheel_to_euclidean_velocity_D_inverse_ =
+        euclidean_to_wheel_velocity_D_.completeOrthogonalDecomposition().pseudoInverse();
 }
 
 WheelSpace_t EuclideanToWheel::getWheelVelocity(EuclideanSpace_t euclidean_velocity) const

Original file line number	Diff line number	Diff line change
`@@ -53,7 +53,8 @@ EuclideanToWheel::EuclideanToWheel(const robot_constants::RobotConstants& robot_`
`53`	`53`
`54`	`54`	`// Calculate Pseudo-inverse dynamically`
`55`	`55`
`56`		`- wheel_to_euclidean_velocity_D_inverse_ = euclidean_to_wheel_velocity_D_.completeOrthogonalDecomposition().pseudoInverse();`
	`56`	`+ wheel_to_euclidean_velocity_D_inverse_ =`
	`57`	`+ euclidean_to_wheel_velocity_D_.completeOrthogonalDecomposition().pseudoInverse();`
`57`	`58`	`}`
`58`	`59`
`59`	`60`	`WheelSpace_t EuclideanToWheel::getWheelVelocity(EuclideanSpace_t euclidean_velocity) const`