#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) |
Protected Attributes | |
| 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_ |
Definition at line 65 of file dead_reckoning.h.
| DeadReckoning::DeadReckoning | ( | double | vehicle_width, |
| double | wheel_radius | ||
| ) | [inline] |
Definition at line 68 of file dead_reckoning.h.
| bool DeadReckoning::next | ( | const grizzly_msgs::DriveConstPtr & | encoders, |
| nav_msgs::Odometry * | odom | ||
| ) |
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 37 of file dead_reckoning.cpp.
ros::Time DeadReckoning::last_time_ [protected] |
Definition at line 77 of file dead_reckoning.h.
Eigen::Vector2f DeadReckoning::last_vels_ [protected] |
Definition at line 78 of file dead_reckoning.h.
ros::Duration DeadReckoning::max_dt_ [protected] |
Definition at line 86 of file dead_reckoning.h.
geometry_msgs::Point DeadReckoning::position_ [protected] |
Definition at line 80 of file dead_reckoning.h.
double DeadReckoning::radius_ [protected] |
Definition at line 85 of file dead_reckoning.h.
geometry_msgs::Twist DeadReckoning::twist_ [protected] |
Definition at line 81 of file dead_reckoning.h.
double DeadReckoning::width_ [protected] |
Definition at line 85 of file dead_reckoning.h.
double DeadReckoning::yaw_ [protected] |
Definition at line 82 of file dead_reckoning.h.