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.

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art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 11 10:05:42 2013