Corrected Odometrie

driving.py

@@ -76,13 +76,16 @@ class Driving_Analyser:
     """
     def calculate_odometrie_continues (self, w, v, time_delta):
         
-        if w != 0 or v != 0:
+        if w != 0: #or v != 0:
             theta = self.theta_old + (w * time_delta)
-            if w < 0:
-                y = self.y_old + (v * (-np.cos(theta) / w - 1))
+            x = self.x_old + (v * ((np.sin(theta) - np.sin(self.theta_old)) / w))
+            y = self.y_old + (v * (-(np.cos(theta) - np.cos(self.theta_old)) / w))
+
         else:
-                y = self.y_old + (v * (-np.cos(theta) / w + 1))
-            x =  self.x_old + (v * (np.sin(theta) / w))
+            theta = self.theta_old
+            x = self.x_old + (v * np.cos(self.theta_old) * time_delta)
+            y = self.y_old + (v * np.sin(self.theta_old) * time_delta)
+
 
             self.theta_old = theta
             self.y_old = round(y, 5)
@@ -95,12 +98,16 @@ class Driving_Analyser:
     # The calculation of the position depending on the speed, rotationspeed and the time.span.
     """
     def calculate_odometrie_delta (self, w, v, time_delta):
+
+        if w != 0:
             theta_delta = (w * time_delta)
-        if w < 0:
-            y_delta = (v * (-np.cos(theta_delta) / w - 1))
+            x_delta = (v * (np.sin(theta_delta) / w))
+            y_delta = (v * (-(np.cos(theta_delta) + cos(0)) / w))
+
         else:
-            y_delta = (v * (-np.cos(theta_delta) / w + 1))
-        x_delta = (v * (np.sin(w * time_delta) / w))
+            theta_delta = 0
+            x_delta = v * (np.cos(0))
+            y_delta = v * (np.sin(0))
         
         return (x_delta, y_delta, theta_delta)