#include <math.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <sys/types.h>
#include <time.h>
#include <shvel-param.h>
#include <param.h>
#include <control.h>
#include <adinput.h>
#include <utility.h>
#include <yprintf.h>
#include <communication.h>
#include <serial.h>
#include <ssm_spur_handler.h>
#include <ypspur.h>
#include <cartesian2d.h>

Include dependency graph for odometry.c:

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

int	odometry_receive (char buf, int len, double receive_time, void data)

int	odometry_receive_loop (void)

void	process_int4 (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) More...

double	time_synchronize (double receive_time, int readnum, int wp)
	ビットレートとか読み込める文字数を観測時刻の推定 More...

Variables
CSptr	g_BL

CSptr	g_BS

ErrorState	g_error_state

double	g_estimated_delay = 0

CSptr	g_FS

CSptr	g_GL

double	g_interval

CSptr	g_LC

Odometry	g_odometry

double	g_offset

int	g_offset_point

CSptr	g_SP

Function Documentation

void cstrans_odometry	(	YPSpur_cs	cs,
		OdometryPtr	dst_odm
	)

Definition at line 345 of file odometry.c.

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

Definition at line 132 of file odometry.c.

CSptr get_cs_pointer ( YPSpur_cs cs )

Definition at line 103 of file odometry.c.

ErrorStatePtr get_error_state_ptr ( )

Definition at line 366 of file odometry.c.

OdometryPtr get_odometry_ptr ( )

Definition at line 361 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 odometry	(	OdometryPtr	xp,
		short *	cnt,
		short *	pwm,
		double	dt,
		double	time
	)

Definition at line 145 of file odometry.c.

int odometry_receive	(	char *	buf,
		int	len,
		double	receive_time,
		void *	data
	)

Definition at line 470 of file odometry.c.

int odometry_receive_loop ( void )

Definition at line 649 of file odometry.c.

void process_int4	(	OdometryPtr	xp,
		ErrorStatePtr	err,
		int	param_id,
		int	id,
		int	value,
		double	receive_time
	)

Definition at line 248 of file odometry.c.

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

Definition at line 139 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 375 of file odometry.c.

double time_synchronize	(	double	receive_time,
		int	readnum,
		int	wp
	)

ビットレートとか読み込める文字数を観測時刻の推定

Parameters

receive_time[in]	最後にシリアルからデータを受け取った時間
readnum[in]	オドメトリなどのデータセットを受け取った回数
wp[in]	データ復元をできなかった残り文字数

Definition at line 386 of file odometry.c.