ros2_control - rolling
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Public Member Functions | |
Odometry (size_t velocity_rolling_window_size=10) | |
bool | update (double left_vel, double right_vel, const rclcpp::Duration &dt) |
void | updateOpenLoop (double linear, double angular, const rclcpp::Duration &dt) |
void | resetOdometry () |
double | getX () const |
double | getY () const |
double | getHeading () const |
double | getLinear () const |
double | getAngular () const |
void | setWheelParams (double wheel_separation, double wheel_radius) |
void | setVelocityRollingWindowSize (size_t velocity_rolling_window_size) |
void tricycle_controller::Odometry::updateOpenLoop | ( | double | linear, |
double | angular, | ||
const rclcpp::Duration & | dt | ||
) |
Save last linear and angular velocity:
Integrate odometry: