Inheritance diagram for okapi::ThreeEncoderOdometry:

Public Member Functions
	ThreeEncoderOdometry (const TimeUtil &itimeUtil, const std::shared_ptr< ReadOnlyChassisModel > &imodel, const ChassisScales &ichassisScales, const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	Odometry.

Public Member Functions inherited from okapi::TwoEncoderOdometry
	TwoEncoderOdometry (const TimeUtil &itimeUtil, const std::shared_ptr< ReadOnlyChassisModel > &imodel, const ChassisScales &ichassisScales, const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	TwoEncoderOdometry.

virtual	~TwoEncoderOdometry ()=default

void	setScales (const ChassisScales &ichassisScales) override
	Sets the drive and turn scales.

void	step () override
	Do one odometry step.

OdomState	getState (const StateMode &imode=StateMode::FRAME_TRANSFORMATION) const override
	Returns the current state.

void	setState (const OdomState &istate, const StateMode &imode=StateMode::FRAME_TRANSFORMATION) override
	Sets a new state to be the current state.

std::shared_ptr< ReadOnlyChassisModel >	getModel () override

ChassisScales	getScales () override

Public Member Functions inherited from okapi::Odometry
	Odometry ()=default
	Odometry.

virtual	~Odometry ()=default

Protected Member Functions
OdomState	odomMathStep (const std::valarray< std::int32_t > &itickDiff, const QTime &ideltaT) override
	Does the math, side-effect free, for one odom step.

Additional Inherited Members
Protected Attributes inherited from okapi::TwoEncoderOdometry
std::shared_ptr< Logger >	logger

std::unique_ptr< AbstractRate >	rate

std::unique_ptr< AbstractTimer >	timer

std::shared_ptr< ReadOnlyChassisModel >	model

ChassisScales	chassisScales

OdomState	state

std::valarray< std::int32_t >	newTicks {0, 0, 0}

std::valarray< std::int32_t >	tickDiff {0, 0, 0}

std::valarray< std::int32_t >	lastTicks {0, 0, 0}

const std::int32_t	maximumTickDiff {1000}

Detailed Description

Definition at line 14 of file threeEncoderOdometry.hpp.

Constructor & Destructor Documentation

okapi::ThreeEncoderOdometry::ThreeEncoderOdometry	(	const TimeUtil &	itimeUtil,
		const std::shared_ptr< ReadOnlyChassisModel > &	imodel,
		const ChassisScales &	ichassisScales,
		const std::shared_ptr< Logger > &	ilogger = `Logger::getDefaultLogger()`
	)

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

Parameters

itimeUtil	The TimeUtil.
imodel	The chassis model for reading sensors.
ichassisScales	See ChassisScales docs (the middle wheel scale is the third member)
iwheelVelDelta	The maximum delta between wheel velocities to consider the robot as driving straight.
ilogger	The logger this instance will log to.

OdomState okapi::ThreeEncoderOdometry::odomMathStep	(	const std::valarray< std::int32_t > &	itickDiff,
		const QTime &	ideltaT
	)

overrideprotectedvirtual

Does the math, side-effect free, for one odom step.

Parameters

itickDiff	The tick difference from the previous step to this step.
ideltaT	The time difference from the previous step to this step.

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