MipAlgorithms::DiffDriveOdometerVar Class Reference

Contains the variables needed to compute the odometric update equations of a differential drive. More...

#include <DiffDriveOdometer.h>

List of all members.

Public Member Functions
	DiffDriveOdometerVar (Pose p=Pose(), DiffDriveEncoderReading r=DiffDriveEncoderReading())
	default constructor.
	DiffDriveOdometerVar (const DiffDriveOdometerVar &p)
	Copy constructor.
DiffDriveOdometerVar &	operator= (const DiffDriveOdometerVar &p)
	Assigment operator =.
string	print ()
	Prints the variables.
Public Attributes
Pose	pose
	Current Pose, x,y,theta.
DiffDriveEncoderReading	encodRead
	Readings (pulses,times) of the encoders of the wheels.
long unsigned int	step

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Detailed Description

Contains the variables needed to compute the odometric update equations of a differential drive.

Author:

Antonio Franchi

Todo:

Public or private variables?

Todo:

Add timestamp.

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Constructor & Destructor Documentation

DiffDriveOdometerVar::DiffDriveOdometerVar	(	Pose	p = Pose(),
		DiffDriveEncoderReading	r = DiffDriveEncoderReading()
	)

default constructor.

Constructor.

Parameters:

	p	Initial Pose of the unicycle: x,y,theta.
	lp	Initial left-wheel/motor encoder pulses.
	rp	Initial right-wheel/motor encoder pulses.
	lt	Time in which the initial left-wheel/motor encoder pulses was aquired.
	lt	Time in which the initial right-wheel/motor encoder pulses was aquired.

DiffDriveOdometerVar::DiffDriveOdometerVar

(

const DiffDriveOdometerVar &

p

)

Copy constructor.

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Member Function Documentation

DiffDriveOdometerVar& MipAlgorithms::DiffDriveOdometerVar::operator=

(

const DiffDriveOdometerVar &

p

)

[inline]

Assigment operator =.

string DiffDriveOdometerVar::print

(

)

Prints the variables.

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Member Data Documentation

Pose MipAlgorithms::DiffDriveOdometerVar::pose

Current Pose, x,y,theta.

DiffDriveEncoderReading MipAlgorithms::DiffDriveOdometerVar::encodRead

Readings (pulses,times) of the encoders of the wheels.

long unsigned int MipAlgorithms::DiffDriveOdometerVar::step

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The documentation for this class was generated from the following files:

• algorithms/DiffDriveOdometer/DiffDriveOdometer.h
• algorithms/DiffDriveOdometer/DiffDriveOdometer.cpp