Gazebo Math

API Reference

7.4.0
gz/math/DiffDriveOdometry.hh
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1/*
2 * Copyright (C) 2019 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GZ_MATH_DIFFDRIVEODOMETRY_HH_
18#define GZ_MATH_DIFFDRIVEODOMETRY_HH_
19
20#include <chrono>
21#include <gz/math/Angle.hh>
22#include <gz/math/Export.hh>
23#include <gz/math/config.hh>
24#include <gz/utils/ImplPtr.hh>
25
26namespace gz
27{
28 namespace math
29 {
30 // Use a steady clock
32
33 // Inline bracket to help doxygen filtering.
34 inline namespace GZ_MATH_VERSION_NAMESPACE {
77 class GZ_MATH_VISIBLE DiffDriveOdometry
78 {
82 public: explicit DiffDriveOdometry(size_t _windowSize = 10);
83
86 public: void Init(const clock::time_point &_time);
87
90 public: bool Initialized() const;
91
98 public: bool Update(const Angle &_leftPos, const Angle &_rightPos,
99 const clock::time_point &_time);
100
103 public: const Angle &Heading() const;
104
107 public: double X() const;
108
111 public: double Y() const;
112
115 public: double LinearVelocity() const;
116
119 public: const Angle &AngularVelocity() const;
120
125 public: void SetWheelParams(double _wheelSeparation,
126 double _leftWheelRadius,
127 double _rightWheelRadius);
128
131 public: void SetVelocityRollingWindowSize(size_t _size);
132
134 GZ_UTILS_IMPL_PTR(dataPtr)
135 };
136 }
137 }
138}
139
140#endif