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@@ -109,7 +109,7 @@ Pose2d Pose2d::rotate(float ox,float oy,float theta)const{
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Pose2d translate(x()-ox,y()-oy,m_theta);//平移
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Pose2d rotated=translate.rotate(theta);
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+
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Pose2d ret(rotated.x()+ox,rotated.y()+oy,rotated.theta());
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- //std::cout<<" self:"<<*this<<" , R:"<<rotated<<",ret:"<<ret<<std::endl;
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return ret;
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}
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