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Fixed what I think is an odomotry bug #103

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Fixed what I think is an odomoetry bug
When moving holonomic robot sideways (in Y-axis of robot frame) probabilistic odometry translates in wrong direction.
This fix worked for me anyway.
MarekWiejak authored Mar 24, 2021
commit 1699bca065c77be846b16f935e5767c0d9ca082e
4 changes: 2 additions & 2 deletions libstage/model_position.cc
Original file line number Diff line number Diff line change
@@ -509,8 +509,8 @@ void ModelPosition::Update(void)
const double dx = (vel.x * dt) * (1.0 + integration_error.x);
const double dy = (vel.y * dt) * (1.0 + integration_error.y);

est_pose.x += dx * cosa + dy * sina;
est_pose.y -= dy * cosa - dx * sina;
est_pose.x += dx * cosa - dy * sina;
est_pose.y += dx * sina + dy * cosa ;
} break;

default: