odometry.h File Reference

#include <shvel-param.h>
#include <cartesian2d.h>
#include <ypparam.h>
#include <ypspur.h>

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Classes
struct	_error_state
struct	_odometry
Typedefs
typedef struct _error_state	ErrorState
typedef struct _error_state *	ErrorStatePtr
typedef struct _odometry	Odometry
typedef struct _odometry *	OdometryPtr
Functions
void	cs_odometry (YPSpur_cs cs, OdometryPtr dst_odm)
void	cstrans_odometry (YPSpur_cs cs, OdometryPtr dst_odm)
void	cstrans_xy (YPSpur_cs src, YPSpur_cs dest, double *x, double *y, double *theta)
CSptr	get_cs_pointer (YPSpur_cs cs)
ErrorStatePtr	get_error_state_ptr ()
OdometryPtr	get_odometry_ptr ()
void	init_coordinate_systems (void)
void	init_odometry (void)
void	odm_logging (OdometryPtr, double, double)
int	odm_read (OdometryPtr odm, double *v, double *w)
void	odometry (OdometryPtr xp, short *cnt, short *pwm, double dt, double time)
int	odometry_receive_loop (void)
void	process_int (OdometryPtr xp, ErrorStatePtr err, int param_id, int id, int value, double receive_time)
void	set_cs (YPSpur_cs cs, double x, double y, double theta)
double	time_estimate (int readnum)
	時刻の推定 (n回目の計測結果の時刻を計算する)

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Typedef Documentation

typedef struct _error_state ErrorState

typedef struct _error_state* ErrorStatePtr

Definition at line 48 of file odometry.h.

typedef struct _odometry Odometry

typedef struct _odometry* OdometryPtr

Definition at line 30 of file odometry.h.

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Function Documentation

void cs_odometry	(	YPSpur_cs	cs,
		OdometryPtr	dst_odm
	)

void cstrans_odometry	(	YPSpur_cs	cs,
		OdometryPtr	dst_odm
	)

Definition at line 316 of file odometry.c.

void cstrans_xy	(	YPSpur_cs	src,
		YPSpur_cs	dest,
		double *	x,
		double *	y,
		double *	theta
	)

Definition at line 131 of file odometry.c.

CSptr get_cs_pointer

(

YPSpur_cs

cs

)

Definition at line 102 of file odometry.c.

ErrorStatePtr get_error_state_ptr

(

)

Definition at line 337 of file odometry.c.

OdometryPtr get_odometry_ptr

(

)

Definition at line 332 of file odometry.c.

void init_coordinate_systems

(

void

)

Definition at line 69 of file odometry.c.

void init_odometry

(

void

)

Definition at line 80 of file odometry.c.

void odm_logging	(	OdometryPtr	,
		double	,
		double
	)

int odm_read	(	OdometryPtr	odm,
		double *	v,
		double *	w
	)

void odometry	(	OdometryPtr	xp,
		short *	cnt,
		short *	pwm,
		double	dt,
		double	time
	)

Definition at line 144 of file odometry.c.

int odometry_receive_loop

(

void

)

Definition at line 585 of file odometry.c.

void process_int	(	OdometryPtr	xp,
		ErrorStatePtr	err,
		int	param_id,
		int	id,
		int	value,
		double	receive_time
	)

Definition at line 247 of file odometry.c.

void set_cs	(	YPSpur_cs	cs,
		double	x,
		double	y,
		double	theta
	)

Definition at line 138 of file odometry.c.

double time_estimate

(

int

readnum

)

時刻の推定 (n回目の計測結果の時刻を計算する)

Parameters:

int	readnum[in] : 計測回数

Definition at line 346 of file odometry.c.