ThreeEncoderOdometry class
Contents
Base classes
- class TwoEncoderOdometry
Constructors, destructors, conversion operators
-
ThreeEncoderOdometry(const TimeUtil& itimeUtil,
const std::shared_ptr<ReadOnlyChassisModel>& imodel,
const ChassisScales& ichassisScales,
const std::shared_ptr<Logger>& ilogger = Logger::
getDefaultLogger()) - Odometry.
Protected functions
- auto odomMathStep(const std::valarray<std::int32_t>& itickDiff, const QTime& ideltaT) -> OdomState override
- Does the math, side-effect free, for one odom step.
Function documentation
okapi::
| Parameters | |
|---|---|
| itimeUtil | The TimeUtil. |
| imodel | The chassis model for reading sensors. |
| ichassisScales | See ChassisScales docs (the middle wheel scale is the third member) |
| ilogger | The logger this instance will log to. |
Tracks the movement of the robot and estimates its position in coordinates relative to the start (assumed to be (0, 0)).
OdomState okapi::
Does the math, side-effect free, for one odom step.
| Parameters | |
|---|---|
| itickDiff | The tick difference from the previous step to this step. |
| ideltaT | The time difference from the previous step to this step. |
| Returns | The newly computed OdomState. |