okapi::TwoEncoderOdometry Class Reference

#include <twoEncoderOdometry.hpp>

Inheritance diagram for okapi::TwoEncoderOdometry:

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

Protected Attributes
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 18 of file twoEncoderOdometry.hpp.

Constructor & Destructor Documentation

TwoEncoderOdometry()

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

TwoEncoderOdometry.

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

Parameters

itimeUtil	The TimeUtil.
imodel	The chassis model for reading sensors.
ichassisScales	The chassis dimensions.
ilogger	The logger this instance will log to.

~TwoEncoderOdometry()

virtual okapi::TwoEncoderOdometry::~TwoEncoderOdometry ( )

virtualdefault

Member Function Documentation

getModel()

std::shared_ptr< ReadOnlyChassisModel > okapi::TwoEncoderOdometry::getModel ( )

overridevirtual

Returns

The internal ChassisModel.

Implements okapi::Odometry.

getScales()

ChassisScales okapi::TwoEncoderOdometry::getScales ( )

overridevirtual

Returns

The internal ChassisScales.

Implements okapi::Odometry.

getState()

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

overridevirtual

Returns the current state.

Parameters

imode

The mode to return the state in.

Returns

The current state in the given format.

Implements okapi::Odometry.

odomMathStep()

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

protectedvirtual

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.

Returns

The newly computed OdomState.

Reimplemented in okapi::ThreeEncoderOdometry.

setScales()

void okapi::TwoEncoderOdometry::setScales ( const ChassisScales &  ichassisScales )

overridevirtual

Sets the drive and turn scales.

Implements okapi::Odometry.

setState()

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

overridevirtual

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.

Implements okapi::Odometry.

step()

void okapi::TwoEncoderOdometry::step ( )

overridevirtual

Do one odometry step.

Implements okapi::Odometry.

Member Data Documentation

chassisScales

ChassisScales okapi::TwoEncoderOdometry::chassisScales

protected

Definition at line 78 of file twoEncoderOdometry.hpp.

lastTicks

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

protected

Definition at line 80 of file twoEncoderOdometry.hpp.

logger

std::shared_ptr<Logger> okapi::TwoEncoderOdometry::logger

protected

Definition at line 74 of file twoEncoderOdometry.hpp.

maximumTickDiff

const std::int32_t okapi::TwoEncoderOdometry::maximumTickDiff {1000}

protected

Definition at line 81 of file twoEncoderOdometry.hpp.

model

std::shared_ptr<ReadOnlyChassisModel> okapi::TwoEncoderOdometry::model

protected

Definition at line 77 of file twoEncoderOdometry.hpp.

newTicks

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

protected

Definition at line 80 of file twoEncoderOdometry.hpp.

rate

std::unique_ptr<AbstractRate> okapi::TwoEncoderOdometry::rate

protected

Definition at line 75 of file twoEncoderOdometry.hpp.

state

OdomState okapi::TwoEncoderOdometry::state

protected

Definition at line 79 of file twoEncoderOdometry.hpp.

tickDiff

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

protected

Definition at line 80 of file twoEncoderOdometry.hpp.

timer

std::unique_ptr<AbstractTimer> okapi::TwoEncoderOdometry::timer

protected

Definition at line 76 of file twoEncoderOdometry.hpp.

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

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