DiffDriveOdometry.hh
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The Angle class is used to simplify and clarify the use of radians and degrees measurements....
Definition: Angle.hh:62
Computes odometry values based on a set of kinematic properties and wheel speeds for a diff-drive veh...
Definition: DiffDriveOdometry.hh:82
void SetWheelParams(double _wheelSeparation, double _leftWheelRadius, double _rightWheelRadius)
Set the wheel parameters including the radius and separation.
double LinearVelocity() const
Get the linear velocity.
void SetVelocityRollingWindowSize(size_t _size)
Set the velocity rolling window size.
void Init(const clock::time_point &_time)
Initialize the odometry.
const Angle & AngularVelocity() const
Get the angular velocity.
bool Update(const Angle &_leftPos, const Angle &_rightPos, const clock::time_point &_time)
Updates the odometry class with latest wheels and steerings position.
bool Initialized() const
Get whether Init has been called.
DiffDriveOdometry(size_t _windowSize=10)
Constructor.
Definition: Angle.hh:43