MipAlgorithms::DiffDriveOdometerPar Class Reference

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

#include <DiffDriveOdometer.h>

Inheritance diagram for MipAlgorithms::DiffDriveOdometerPar:

List of all members.

Public Member Functions
	DiffDriveOdometerPar (Decimal ld=1.0, Decimal rd=1.0, Decimal wb=1.0, Decimal er=1.0, Decimal maxWheelTurnRate=100000.0, string iM="runge-kutta2")
	Constructor.
	DiffDriveOdometerPar (const DiffDriveOdometerPar &p)
	Copy constructor.
DiffDriveOdometerPar &	operator= (const DiffDriveOdometerPar &p)
	Assigment operator =.
Decimal	getLeftWheelDiam ()
	Gets Left-wheel diameter (m).
Decimal	getRightWheelDiam ()
	Gets Right-wheel diameter (m).
Decimal	getAxelTrack ()
	Gets Axel track (m).
Decimal	getEncoderResol ()
	Gets Encoder resolution, number of pulses per radians (pulses/rad).
Decimal	getLeftRatio ()
	Gets Left-wheel conversion-ratio between pulses and linear movement of the wheel.
Decimal	getRightRatio ()
	Gets Right-wheel conversion-ratio between pulses and linear movement of the wheel.
long int	getMaxPulseRate ()
	Gets the max difference between two readings which differ of a second.
OdomIntegrMethods	getIntegrMethod ()
	Gets the integration method.
string	print ()
	Prints the parameters.

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Detailed Description

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

Author:

Antonio Franchi

Todo:

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Constructor & Destructor Documentation

DiffDriveOdometerPar::DiffDriveOdometerPar	(	Decimal	ld = 1.0,
		Decimal	rd = 1.0,
		Decimal	wb = 1.0,
		Decimal	er = 1.0,
		Decimal	maxWheelTurnRate = 100000.0,
		string	iM = "runge-kutta2"
	)

Constructor.

Parameters:

[in]	ld	Left-wheel diameter (m).
[in]	rd	Right-wheel diameter (m).
[in]	wb	Axel track (m).
[in]	er	Encoder resolution, number of pulses per radians (pulses/rad).
[in]	maxWheelTurnRate	Max wheel turnrate (rad/s).
[in]	iM	integration method: exact, runge-kutta2

DiffDriveOdometerPar::DiffDriveOdometerPar

(

const DiffDriveOdometerPar &

p

)

Copy constructor.

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Member Function Documentation

DiffDriveOdometerPar& MipAlgorithms::DiffDriveOdometerPar::operator=

(

const DiffDriveOdometerPar &

p

)

[inline]

Assigment operator =.

Decimal DiffDriveOdometerPar::getLeftWheelDiam

(

)

Gets Left-wheel diameter (m).

Decimal DiffDriveOdometerPar::getRightWheelDiam

(

)

Gets Right-wheel diameter (m).

Decimal DiffDriveOdometerPar::getAxelTrack

(

)

Gets Axel track (m).

Decimal DiffDriveOdometerPar::getEncoderResol

(

)

Gets Encoder resolution, number of pulses per radians (pulses/rad).

Decimal DiffDriveOdometerPar::getLeftRatio

(

)

Gets Left-wheel conversion-ratio between pulses and linear movement of the wheel.

Decimal DiffDriveOdometerPar::getRightRatio

(

)

Gets Right-wheel conversion-ratio between pulses and linear movement of the wheel.

long int DiffDriveOdometerPar::getMaxPulseRate

(

)

Gets the max difference between two readings which differ of a second.

OdomIntegrMethods DiffDriveOdometerPar::getIntegrMethod

(

)

Gets the integration method.

string DiffDriveOdometerPar::print

(

)

Prints the parameters.

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

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