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)

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)