fixing test

VirtualRobot/IK/platform/OmniWheelPlatformKinematics.cpp

@@ -44,7 +44,9 @@ namespace VirtualRobot
     Eigen::Matrix3f
     OmniWheelPlatformKinematicsParams::C() const
     {
-        return B().transpose().inverse() * R / n;
+        Eigen::Matrix3f r = Eigen::Vector3f{-1, -1, 1}.asDiagonal();
+
+        return r * B().transpose().inverse() * R / n;
     }
 
     // OmniWheelPlatformKinematics

VirtualRobot/tests/OmniPlatformKinematicsTest.cpp

@@ -90,8 +90,8 @@ BOOST_AUTO_TEST_CASE(testMoveForward)
     BOOST_CHECK_CLOSE(std::abs(wheelVelocities(1)), std::abs(wheelVelocities(2)), 0.001);
 
     // .. but with different signs
-    BOOST_CHECK_GE(wheelVelocities(1), 0.0);
-    BOOST_CHECK_LE(wheelVelocities(2), 0.0);
+    BOOST_CHECK_LE(wheelVelocities(1), 0.0);
+    BOOST_CHECK_GE(wheelVelocities(2), 0.0);
 }
 
 BOOST_AUTO_TEST_CASE(testRotate)