Public Member Functions | Protected Attributes
DeadReckoning Class Reference

#include <dead_reckoning.h>

List of all members.

Public Member Functions

 DeadReckoning (double vehicle_width, double wheel_radius)
bool next (const grizzly_msgs::DriveConstPtr &encoders, nav_msgs::Odometry *odom, sensor_msgs::JointState *joints)

Protected Attributes

bool initialize
std::vector< double > last_joint_pos_
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_

Detailed Description

Definition at line 67 of file dead_reckoning.h.


Constructor & Destructor Documentation

DeadReckoning::DeadReckoning ( double  vehicle_width,
double  wheel_radius 
) [inline]

Definition at line 70 of file dead_reckoning.h.


Member Function Documentation

bool DeadReckoning::next ( const grizzly_msgs::DriveConstPtr &  encoders,
nav_msgs::Odometry *  odom,
sensor_msgs::JointState *  joints 
)

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 39 of file dead_reckoning.cpp.


Member Data Documentation

bool DeadReckoning::initialize [protected]

Definition at line 85 of file dead_reckoning.h.

std::vector<double> DeadReckoning::last_joint_pos_ [protected]

Definition at line 86 of file dead_reckoning.h.

Definition at line 79 of file dead_reckoning.h.

Eigen::Vector2f DeadReckoning::last_vels_ [protected]

Definition at line 80 of file dead_reckoning.h.

Definition at line 90 of file dead_reckoning.h.

Definition at line 82 of file dead_reckoning.h.

double DeadReckoning::radius_ [protected]

Definition at line 89 of file dead_reckoning.h.

geometry_msgs::Twist DeadReckoning::twist_ [protected]

Definition at line 83 of file dead_reckoning.h.

double DeadReckoning::width_ [protected]

Definition at line 89 of file dead_reckoning.h.

double DeadReckoning::yaw_ [protected]

Definition at line 84 of file dead_reckoning.h.


The documentation for this class was generated from the following files:


grizzly_motion
Author(s):
autogenerated on Thu Feb 11 2016 23:08:09