okapi::Odometry Class Reference

#include <odometry.hpp>

Inheritance diagram for okapi::Odometry:

Public Member Functions
	Odometry ()=default
	Odometry.
virtual	~Odometry ()=default
virtual void	setScales (const ChassisScales &ichassisScales)=0
	Sets the drive and turn scales.
virtual void	step ()=0
	Do one odometry step.
virtual OdomState	getState (const StateMode &imode=StateMode::FRAME_TRANSFORMATION) const =0
	Returns the current state.
virtual void	setState (const OdomState &istate, const StateMode &imode=StateMode::FRAME_TRANSFORMATION)=0
	Sets a new state to be the current state.
virtual std::shared_ptr< ReadOnlyChassisModel >	getModel ()=0
virtual ChassisScales	getScales ()=0

Detailed Description

Definition at line 14 of file odometry.hpp.

Constructor & Destructor Documentation

Odometry()

okapi::Odometry::Odometry ( )

explicitdefault

Odometry.

Tracks the movement of the robot and estimates its position in coordinates relative to the start (assumed to be (0, 0, 0)).

~Odometry()

virtual okapi::Odometry::~Odometry ( )

virtualdefault

Member Function Documentation

getModel()

virtual std::shared_ptr< ReadOnlyChassisModel > okapi::Odometry::getModel ( )

pure virtual

Returns

The internal ChassisModel.

Implemented in okapi::TwoEncoderOdometry.

getScales()

virtual ChassisScales okapi::Odometry::getScales ( )

pure virtual

Returns

The internal ChassisScales.

Implemented in okapi::TwoEncoderOdometry.

getState()

virtual OdomState okapi::Odometry::getState ( const StateMode &  imode = StateMode::FRAME_TRANSFORMATION ) const

pure virtual

Returns the current state.

Parameters

imode

The mode to return the state in.

Returns

The current state in the given format.

Implemented in okapi::TwoEncoderOdometry.

setScales()

virtual void okapi::Odometry::setScales ( const ChassisScales &  ichassisScales )

pure virtual

Sets the drive and turn scales.

Implemented in okapi::TwoEncoderOdometry.

setState()

virtual void okapi::Odometry::setState ( const OdomState &  istate, const StateMode &  imode = StateMode::FRAME_TRANSFORMATION  )

pure virtual

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.

Implemented in okapi::TwoEncoderOdometry.

step()

virtual void okapi::Odometry::step ( )

pure virtual

Do one odometry step.

Implemented in okapi::TwoEncoderOdometry.

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

• include/okapi/api/odometry/odometry.hpp