Fixing problem with odometrie

driving.py

@@ -78,7 +78,6 @@ class Driving_Analyser:
         
         if w != 0 or v != 0:
             theta = self.theta_old + (w * time_delta)
-           #y = self.y_old + (v * ((-np.cos(theta) / w) + 1))
             if w < 0:
                 y = self.y_old + (v * (-np.cos(theta) / w - 1))
             else:
@@ -97,7 +96,10 @@ class Driving_Analyser:
     """
     def calculate_odometrie_delta (self, w,v,time_delta):
         theta_delta = (w * time_delta)
-        y_delta = (v * (-np.cos(theta_delta) / w))
+        if w < 0:
+            y_delta = (v * (-np.cos(theta_delta) / w - 1))
+        else:
+            y_delta = (v * (-np.cos(theta_delta) / w + 1))
         x_delta = (v * (np.sin(w * time_delta) / w))
         
         return (x_delta, y_delta, theta_delta)