{"action":"opened","issue":{"url":"https://api.github.com/repos/simondlevy/BreezySLAM/issues/25","repository_url":"https://api.github.com/repos/simondlevy/BreezySLAM","labels_url":"https://api.github.com/repos/simondlevy/BreezySLAM/issues/25/labels{/name}","comments_url":"https://api.github.com/repos/simondlevy/BreezySLAM/issues/25/comments","events_url":"https://api.github.com/repos/simondlevy/BreezySLAM/issues/25/events","html_url":"https://github.com/simondlevy/BreezySLAM/issues/25","id":317175032,"number":25,"title":"Why computeVelocities returns doubled distance?","user":{"login":"topin89","id":25770107,"avatar_url":"https://avatars1.githubusercontent.com/u/25770107?v=4","gravatar_id":"","url":"https://api.github.com/users/topin89","html_url":"https://github.com/topin89","followers_url":"https://api.github.com/users/topin89/followers","following_url":"https://api.github.com/users/topin89/following{/other_user}","gists_url":"https://api.github.com/users/topin89/gists{/gist_id}","starred_url":"https://api.github.com/users/topin89/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/topin89/subscriptions","organizations_url":"https://api.github.com/users/topin89/orgs","repos_url":"https://api.github.com/users/topin89/repos","events_url":"https://api.github.com/users/topin89/events{/privacy}","received_events_url":"https://api.github.com/users/topin89/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-04-24T11:00:15Z","updated_at":"2018-04-24T11:00:15Z","closed_at":null,"author_association":"NONE","body":"in [vehicles.py](https://github.com/simondlevy/BreezySLAM/blob/70bf9c95850844780a3d221b2452fecd35a0e448/python/breezyslam/vehicles.py#L83-L84) distance calculates as:\r\n```\r\n    dxyMillimeters =  self.wheelRadiusMillimeters * \\\r\n            (math.radians(leftDiffDegrees) + math.radians(rightDiffDegrees))\r\n```\r\nObviously, if two 1mm radius wheels  rotate by 1rad we get 2mm distanse instead of one.\r\n\r\nyet return value described as\r\n`dxyMillimeters     forward distance traveled, in millimeters`\r\n\r\nAs far as I understand, rotation is also doubled, but I'm not sure.\r\nMaybe CoreSLAM uses doubled value, maybe degrees should be halved, maybe it's just error, I don't know. So, why? "}}
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