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)

bool	update_from_pos (double left_pos, double right_pos, double dt)

bool	update_from_vel (double left_vel, double right_vel, double dt)

bool	try_update_open_loop (double linear_vel, double angular_vel, double dt)

void	setOdometry (double x, double y, double heading)

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