better orbiting

[aversive.git] / modules / devices / robot / trajectory_manager / trajectory_manager_core.c

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index a7473c4..cc2a58a 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -504,8 +504,10 @@ void trajectory_manager_circle_event(struct trajectory *traj)
         * if we are far, go in the center direction,
         * if we are at radius, we want to see the center at 90°
         * if we are nearer than radius, angle to center is > 90° */
-       if (v2pol_target.r > traj->target.circle.radius * 2)
-               angle_to_center_rad = 0;
+       if (v2pol_target.r > traj->target.circle.radius) {
+               angle_to_center_rad = traj->target.circle.radius / v2pol_target.r;
+               angle_to_center_rad *= (M_PI / 2);
+       }
        else {
                angle_to_center_rad = 1. - (v2pol_target.r /
                                            (2 * traj->target.circle.radius));