#include <dead_reckoning.h>

Public Member Functions
	DeadReckoning (double vehicle_width, double wheel_radius)
bool	next (const grizzly_msgs::DriveConstPtr &encoders, nav_msgs::Odometry odom, sensor_msgs::JointState joints)
Protected Attributes
bool	initialize
std::vector< double >	last_joint_pos_
ros::Time	last_time_
Eigen::Vector2f	last_vels_
ros::Duration	max_dt_
geometry_msgs::Point	position_
double	radius_
geometry_msgs::Twist	twist_
double	width_
double	yaw_

Detailed Description

Definition at line 67 of file dead_reckoning.h.

Constructor & Destructor Documentation

DeadReckoning::DeadReckoning	(	double	vehicle_width,
		double	wheel_radius
	)		`[inline]`

Definition at line 70 of file dead_reckoning.h.

Member Function Documentation

bool DeadReckoning::next	(	const grizzly_msgs::DriveConstPtr &	encoders,
		nav_msgs::Odometry *	odom,
		sensor_msgs::JointState *	joints
	)

Open-loop mapping between linear/angular commands and individual wheel speed commands. Currently very naive, but in the future may provide some further intelligence, though not closed-loop control.

Definition at line 39 of file dead_reckoning.cpp.