Estimate Namespace Reference

Functions
void	control_pose (const nav_msgs::Odometry &odom, ros::Time est_time, nav_msgs::Odometry &est)
void	front_axle_pose (const nav_msgs::Odometry &odom, nav_msgs::Odometry &est)
void	front_bumper_pose (const nav_msgs::Odometry &odom, nav_msgs::Odometry &est)

---

Function Documentation

void Estimate::control_pose	(	const nav_msgs::Odometry &	odom,
		ros::Time	est_time,
		nav_msgs::Odometry &	est
	)

Estimate control pose from earlier odometry.

This is inherently a two-dimensional calculation, assuming constant covariance, velocity and yaw rate.

Parameters:

[in]	odom	odometry on which to base estimate, with time stamp
	est_time	time for which estimated odometry desired
	est	estimated odometry for time in est.header.stamp

Todo:

Extrapolate speed and yaw rate using change from last cycle. Use average of current and estimated derivatives to estimate control position. When the car is accelerating, look farther ahead.

Definition at line 38 of file estimate.cc.

void Estimate::front_axle_pose	(	const nav_msgs::Odometry &	odom,
		nav_msgs::Odometry &	est
	)

Definition at line 127 of file estimate.cc.

void Estimate::front_bumper_pose	(	const nav_msgs::Odometry &	odom,
		nav_msgs::Odometry &	est
	)

Definition at line 116 of file estimate.cc.