Public Member Functions
	Odometry (size_t velocity_rolling_window_size=10)

void	init (const rclcpp::Time &time)

bool	update (double left_pos, double right_pos, const rclcpp::Time &time)

bool	updateFromVelocity (double left_vel, double right_vel, const rclcpp::Time &time)

void	updateOpenLoop (double linear, double angular, const rclcpp::Time &time)

void	resetOdometry ()

double	getX () const

double	getY () const

double	getHeading () const

double	getLinear () const

double	getAngular () const

void	setWheelParams (double wheel_separation, double left_wheel_radius, double right_wheel_radius)

void	setVelocityRollingWindowSize (size_t velocity_rolling_window_size)

Member Function Documentation

◆ updateOpenLoop()

void diff_drive_controller::Odometry::updateOpenLoop	(	double	linear,
		double	angular,
		const rclcpp::Time &	time
	)

Save last linear and angular velocity:

Integrate odometry:

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

ros2_controllers/diff_drive_controller/include/diff_drive_controller/odometry.hpp
ros2_controllers/diff_drive_controller/src/odometry.cpp