Class Odometry

Defined in File odometry.hpp

Class Documentation

class Odometry

Public Functions

explicit Odometry(size_t velocity_rolling_window_size = 1)

void init(const rclcpp::Time &time, const std::array<double, 3> &base_frame_offset = {0.0, 0.0, 0.0})

bool update(const std::vector<double> &steering_positions, const std::vector<double> &wheel_velocities, const double dt)

bool update(double target_vx, double target_vy, double target_w, const double dt)

inline double getX() const

inline double getY() const

inline double getYaw() const

inline double getVx() const

inline double getVy() const

inline double getWz() const

void setModuleParams(const std::vector<double> &module_x_offsets, const std::vector<double> &module_y_offsets, const double wheel_radius)

void set_solver_method(OdomSolverMethod method)

void setVelocityRollingWindowSize(size_t velocity_rolling_window_size)

void resetAccumulators()

Eigen::Vector3d updateFromVelocity(double linear_x, double linear_y, double angular_z)