CreateOdometry Class Reference

Holds particle-independent odometry code so we can avoid templating and just recompile the cc file. More...

#include <CreateMotionModel.h>

Inheritance diagram for CreateOdometry:

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Detailed Description

Holds particle-independent odometry code so we can avoid templating and just recompile the cc file.

Definition at line 19 of file CreateMotionModel.h.

List of all members.

Public Member Functions
	CreateOdometry ()
virtual	~CreateOdometry ()
void	getCreateOdometry (float &dd, AngSignPi &da)
	Calculate translation and rotation using both Create hardware odometry and visual odometry.
virtual void	computeCreateMotion (float len, float omega, float theta, float &dx, float &dy, float &dtheta)
	Compute distance update for a given linear distance and angular distance traveled.
Static Public Attributes
static constexpr float	minUpdateDistance = 5.0f
static constexpr float	minUpdateAngle = 0.05f
Private Attributes
float	lastdist
AngTwoPi	lastang
AngTwoPi	lastOdoAng

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Constructor & Destructor Documentation

CreateOdometry::CreateOdometry

(

)

Definition at line 26 of file CreateMotionModel.h.

virtual CreateOdometry::~CreateOdometry

(

)

[virtual]

Definition at line 31 of file CreateMotionModel.h.

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Member Function Documentation

void CreateOdometry::computeCreateMotion	(	float	len,
		float	omega,
		float	theta,
		float &	dx,
		float &	dy,
		float &	dtheta
	)			[virtual]

Compute distance update for a given linear distance and angular distance traveled.

Definition at line 43 of file CreateMotionModel.cc.

Referenced by CreateMotionModel< ParticleT >::updateMotion().

void CreateOdometry::getCreateOdometry	(	float &	dd,
		AngSignPi &	da
	)

Calculate translation and rotation using both Create hardware odometry and visual odometry.

Definition at line 7 of file CreateMotionModel.cc.

Referenced by CreateMotionModel< ParticleT >::updateMotion().

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Member Data Documentation

AngTwoPi CreateOdometry::lastang [private]

Definition at line 22 of file CreateMotionModel.h.

Referenced by getCreateOdometry().

float CreateOdometry::lastdist [private]

Definition at line 21 of file CreateMotionModel.h.

Referenced by getCreateOdometry().

AngTwoPi CreateOdometry::lastOdoAng [private]

Definition at line 23 of file CreateMotionModel.h.

Referenced by getCreateOdometry().

constexpr float CreateOdometry::minUpdateAngle = 0.05f [static]

Definition at line 40 of file CreateMotionModel.h.

Referenced by getCreateOdometry(), and CreateMotionModel< ParticleT >::updateMotion().

constexpr float CreateOdometry::minUpdateDistance = 5.0f [static]

Definition at line 39 of file CreateMotionModel.h.

Referenced by getCreateOdometry(), and CreateMotionModel< ParticleT >::updateMotion().

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

• CreateMotionModel.h
• CreateMotionModel.cc