TwoEncoderOdometry class
Contents
Base classes
- class Odometry
Derived classes
- class ThreeEncoderOdometry
Constructors, destructors, conversion operators
-
TwoEncoderOdometry(const TimeUtil& itimeUtil,
const std::shared_ptr<ReadOnlyChassisModel>& imodel,
const ChassisScales& ichassisScales,
const std::shared_ptr<Logger>& ilogger = Logger::
getDefaultLogger()) - TwoEncoderOdometry.
- ~TwoEncoderOdometry() defaulted virtual
Public functions
- void setScales(const ChassisScales& ichassisScales) override
- Sets the drive and turn scales.
- void step() override
- Do one odometry step.
-
auto getState(const StateMode& imode = StateMode::
FRAME_TRANSFORMATION) const -> OdomState override - Returns the current state.
-
void setState(const OdomState& istate,
const StateMode& imode = StateMode::
FRAME_TRANSFORMATION) override - Sets a new state to be the current state.
- auto getModel() -> std::shared_ptr<ReadOnlyChassisModel> override
- auto getScales() -> ChassisScales override
Protected functions
- auto odomMathStep(const std::valarray<std::int32_t>& itickDiff, const QTime& ideltaT) -> OdomState virtual
- Does the math, side-effect free, for one odom step.
Protected variables
- std::shared_ptr<Logger> logger
- std::unique_ptr<AbstractRate> rate
- std::unique_ptr<AbstractTimer> timer
- std::shared_ptr<ReadOnlyChassisModel> model
- ChassisScales chassisScales
- OdomState state
- std::valarray<std::int32_t> newTicks
- std::valarray<std::int32_t> tickDiff
- std::valarray<std::int32_t> lastTicks
- const std::int32_t maximumTickDiff
Function documentation
okapi::
| Parameters | |
|---|---|
| itimeUtil | The TimeUtil. |
| imodel | The chassis model for reading sensors. |
| ichassisScales | The chassis dimensions. |
| 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, 0)).
OdomState okapi::
Returns the current state.
| Parameters | |
|---|---|
| imode | The mode to return the state in. |
| Returns | The current state in the given format. |
void okapi::
Sets a new state to be the current state.
| Parameters | |
|---|---|
| istate | The new state in the given format. |
| imode | The mode to treat the input state as. |
std::shared_ptr<ReadOnlyChassisModel> okapi::
| Returns | The internal ChassisModel. |
|---|
ChassisScales okapi::
| Returns | The internal ChassisScales. |
|---|
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. |