robodim: Add robot diagonal radius.

diff --git a/src/robodim/robodim.h b/src/robodim/robodim.h
index 601263895a4832a0cbaf24f62ce51c2b5e21772b..1fa693b3b7d25d838b6f9d0f46f0b0809cebf5f5 100644 (file)
--- a/src/robodim/robodim.h
+++ b/src/robodim/robodim.h
@@ -65,6 +65,8 @@
 #define ODOMETRY_WHEEL_RADIUS_M (ODOMETRY_WHEEL_RADIUS_MM/1000.0)
 #define ODOMETRY_ROTATION_RADIUS_MM (284.0/2.0)
 #define ODOMETRY_ROTATION_RADIUS_M (ODOMETRY_ROTATION_RADIUS_MM/1000.0)
+#define ROBOT_DIAGONAL_RADIUS_MM sqrt((ROBOT_WIDTH_MM*ROBOT_WIDTH_MM/4) + (ROBOT_AXIS_TO_FRONT_MM*ROBOT_AXIS_TO_FRONT_MM))
+#define ROBOT_DIAGONAL_RADIUS_M (ROBOT_DIAGONAL_RADIUS_MM/1000.0)
 
 #define ROBOT_JAWS_LENGHT_MM 130.0 /* JA */
 #define ROBOT_JAWS_LENGHT_M (ROBOT_JAWS_LENGHT_MM/1000.0)