ReferenceRotatedTray negative rotation

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Martin Gyurkó

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Mar 28, 2021, 1:34:02 PM3/28/21
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Hi Everyone!

Just currently I realized, we can not use negatively rotated tray feeder. It makes the mistake of using the absolute value of the negative rotation, and ends up in the wrong, positively rotated place.
I believe, the arithmetics are the reason.
Cosine is always positive, and we really need to use the rotation  matrix built of 

cos(theta)  -sin(theta)
sin(theta) cos(theta)

Any reason why we are using in the calculatePickLocation the Pithagoras square and sqrt things instead?

Martin

Martin Gyurkó

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Apr 7, 2021, 6:14:12 AM4/7/21
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I just made a pull request about the fix of this
Can anyone confirm that I did not mess up?
Jason, can you pull it?

Martin
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