Class Odometry

• Defined in File odometry.hpp

Class Documentation

class Odometry

Public Functions

Odometry()

bool updateFromPos(const std::vector<double> &wheels_pos, const rclcpp::Time &time)

bool updateFromVel(const std::vector<double> &wheels_vel, const rclcpp::Time &time)

bool updateOpenLoop(const double &linear_x_vel, const double &linear_y_vel, const double &angular_vel, const rclcpp::Time &time)

void resetOdometry()

inline double getX() const

inline double getY() const

inline double getHeading() const

inline double getLinearXVel() const

inline double getLinearYVel() const

inline double getAngularVel() const

void setParams(const double &robot_radius, const double &wheel_radius, const double &wheel_offset, const size_t &wheel_count)