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| SteeringOdometry (size_t velocity_rolling_window_size=10) |
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void | init (const rclcpp::Time &time) |
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bool | update_from_position (const double traction_wheel_pos, const double steer_pos, const double dt) |
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bool | update_from_position (const double right_traction_wheel_pos, const double left_traction_wheel_pos, const double steer_pos, const double dt) |
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bool | update_from_position (const double right_traction_wheel_pos, const double left_traction_wheel_pos, const double right_steer_pos, const double left_steer_pos, const double dt) |
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bool | update_from_velocity (const double traction_wheel_vel, const double steer_pos, const double dt) |
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bool | update_from_velocity (const double right_traction_wheel_vel, const double left_traction_wheel_vel, const double steer_pos, const double dt) |
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bool | update_from_velocity (const double right_traction_wheel_vel, const double left_traction_wheel_vel, const double right_steer_pos, const double left_steer_pos, const double dt) |
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void | update_open_loop (const double v_bx, const double omega_bz, const double dt) |
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void | set_odometry_type (const unsigned int type) |
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unsigned int | get_odometry_type () const |
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double | get_heading () const |
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double | get_x () const |
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double | get_y () const |
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double | get_linear () const |
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double | get_angular () const |
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void | set_wheel_params (const double wheel_radius, const double wheel_base, const double wheel_track) |
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void | set_wheel_params (const double wheel_radius, const double wheel_base, const double wheel_track_steering, const double wheel_track_traction) |
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void | set_velocity_rolling_window_size (const size_t velocity_rolling_window_size) |
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std::tuple< std::vector< double >, std::vector< double > > | get_commands (double v_bx, double omega_bz, bool open_loop=true, bool reduce_wheel_speed_until_steering_reached=false) |
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void | reset_odometry () |
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Deprecated Odometry class for backward ABI compatibility. Internally calling steering_kinematics::SteeringKinematics.
1.9.8