Hi,

I use processing for visualizing sensor readings of my robot. The sensors are not at the center of the robot. So I need to add some shift/offset to the readings.

I have X,Y and theta of the robot. I know the offset of the sensors from the center of the robot.

--> Is there a simple formula to calculate the X/Y position of the sensor based on the current robot position and heading?

I could of cause do something like “90 degree right + X offset -> 90 degree left + Y offset”. But this would require quite some calculations per sensor data point.
There must be a simpler mathematical solution.

Thanks
Robert