Estimate control pose from earlier odometry.
This is inherently a two-dimensional calculation, assuming constant covariance, velocity and yaw rate.
|[in]||odom||odometry on which to base estimate, with time stamp |
|est_time||time for which estimated odometry desired |
|est||estimated odometry for time in est.header.stamp |
- Extrapolate speed and yaw rate using change from last cycle. Use average of current and estimated derivatives to estimate control position. When the car is accelerating, look farther ahead.
Definition at line 38 of file estimate.cc.
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 3 2014 11:08:43