From 2a8375e82fb81929f55ed10f929ec0313b4448f2 Mon Sep 17 00:00:00 2001
From: robertik10 <58191510+robertik10@users.noreply.github.com>
Date: Mon, 15 Jan 2024 14:01:00 +0100
Subject: [PATCH] Update coordinate_transformation.py

removed transformation when calculating heading-> Ready for merge
---
 .../src/coordinate_transformation.py          | 21 ++++++++++---------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/code/perception/src/coordinate_transformation.py b/code/perception/src/coordinate_transformation.py
index f228dda5..8e817ab2 100755
--- a/code/perception/src/coordinate_transformation.py
+++ b/code/perception/src/coordinate_transformation.py
@@ -132,16 +132,17 @@ def quat_to_heading(quaternion):
 
     raw_heading = theta
 
-    # transform raw_heading so that:
-    # ---------------------------------------------------------------
-    # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis |
-    # ---------------------------------------------------------------
-    # The above transformation limits the heading to the range of -pi to pi
-    # It also rotates the heading by 90 degrees so that the heading is in
-    # the direction of the x-axis which the car starts in (heading = 0)
-
-    # heading is positive in counter clockwise rotations
-    heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi
+    # # transform raw_heading so that:
+    # # ---------------------------------------------------------------
+    # # | 0 = x-axis | pi/2 = y-axis | pi = -x-axis | -pi/2 = -y-axis |
+    # # ---------------------------------------------------------------
+    # # The above transformation limits the heading to the range of -pi to pi
+    # # It also rotates the heading by 90 degrees so that the heading is in
+    # # the direction of the x-axis which the car starts in (heading = 0)
+
+    # # heading is positive in counter clockwise rotations
+    # heading = (raw_heading - (math.pi / 2)) % (2 * math.pi) - math.pi
+    heading = raw_heading
 
     return heading