labust::math::unwrap Struct Reference

#include <NumberManipulation.hpp>

List of all members.

Public Member Functions
double	operator() (double angle)
	unwrap ()
Private Attributes
double	anglek_1
int	index

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Detailed Description

The structure handles angle unwrapping. We use a structure for re-entrant behaviour. When doing estimation or control use the angle unwrapper to condition the vehicle angle. We recommend putting this in vehicle driver to supply a unwrapped vehicle yaw.

Definition at line 152 of file NumberManipulation.hpp.

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Constructor & Destructor Documentation

labust::math::unwrap::unwrap

(

)

[inline]

Generic constructor.

Definition at line 157 of file NumberManipulation.hpp.

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Member Function Documentation

double labust::math::unwrap::operator()

(

double

angle

)

[inline]

Based on the current angle and history calculates the unwrapped angle value. Useful for tracking the amount of full circles the vehicle has taken.

Parameters:

angle

Angle in radians.

Definition at line 164 of file NumberManipulation.hpp.

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Member Data Documentation

double labust::math::unwrap::anglek_1 [private]

The last angle.

Definition at line 182 of file NumberManipulation.hpp.

int labust::math::unwrap::index [private]

The wrap-around index.

Definition at line 186 of file NumberManipulation.hpp.

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The documentation for this struct was generated from the following file:

• NumberManipulation.hpp