Class Odometry

• Defined in File odometry.hpp

Class Documentation

class Odometry

Public Functions

explicit Odometry(size_t velocity_rolling_window_size = 10)

void init(const rclcpp::Time &time)

bool update(double left_pos, double right_pos, const rclcpp::Time &time)

bool updateFromVelocity(double left_vel, double right_vel, const rclcpp::Time &time)

void updateOpenLoop(double linear, double angular, const rclcpp::Time &time)

bool update_from_pos(double left_pos, double right_pos, double dt)

bool update_from_vel(double left_vel, double right_vel, double dt)

bool try_update_open_loop(double linear_vel, double angular_vel, double dt)

void setOdometry(double x, double y, double heading)

void resetOdometry()

inline double getX() const

inline double getY() const

inline double getHeading() const

inline double getLinear() const

inline double getAngular() const

void setWheelParams(double wheel_separation, double left_wheel_radius, double right_wheel_radius)

void setVelocityRollingWindowSize(size_t velocity_rolling_window_size)