MipAlgorithms::DiffDriveOdometer Class Reference

Algorithm which may be used to update the state of a differential drive. It makes use of the odometric equations. More...

#include <DiffDriveOdometer.h>

Inheritance diagram for MipAlgorithms::DiffDriveOdometer:

List of all members.

Public Member Functions
	DiffDriveOdometer (const DiffDriveOdometerPar &p, const DiffDriveOdometerVar &v)
	Constructor.
	~DiffDriveOdometer ()
void	reset (Pose &pose, DiffDriveEncoderReading &encodRead)
	Reset the pose and the encoder readings to a certain value.
bool	step (DiffDriveEncoderReading in, MotionModuleTState &out)
	Reset the variables of the algorithm to a certain value.

---

Detailed Description

Algorithm which may be used to update the state of a differential drive. It makes use of the odometric equations.

Author:

Antonio Franchi

Todo:

Add logging.

---

Constructor & Destructor Documentation

DiffDriveOdometer::DiffDriveOdometer	(	const DiffDriveOdometerPar &	p,
		const DiffDriveOdometerVar &	v
	)

Constructor.

Parameters:

	p	Parameters.
	v	Initial variables (state).

MipAlgorithms::DiffDriveOdometer::~DiffDriveOdometer

(

)

[inline]

---

Member Function Documentation

void DiffDriveOdometer::reset	(	Pose &	pose,
		DiffDriveEncoderReading &	encodRead
	)

Reset the pose and the encoder readings to a certain value.

Parameters:

[in]	&pose	Resetting pose.
[in]	&encoderReadings	Resetting encoder readings.

bool DiffDriveOdometer::step	(	DiffDriveEncoderReading	in,
		MotionModuleTState &	out
	)

Reset the variables of the algorithm to a certain value.

Parameters:

	p	New variables. Fundamental step of the algorithm.
[in]	in	Inputs of the step (new pulses and times).
[out]	&out	Out of the step (new pose, new linear speed, new angular speed).

Returns:

true if the result is valid, false otherwise.

---

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

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