tap::algorithms::odometry::ChassisWorldYawObserverInterface Class Reference

#include <chassis_world_yaw_observer_interface.hpp>

Public Member Functions
virtual bool	getChassisWorldYaw (float *yaw) const =0

Detailed Description

Object used to get chassis yaw relative to world frame x-axis. Positive angles sweep from field x-axis to field y-axis (right-handed system).

Returned angle is from sweeping from field positive x-axis to chassis forward vector.

Note

Positive z-axis is straight upwards (opposite gravity). The orientation of the positive x and positive y axes are implementation-defined.

Getting chassis orientation may fail as implementor chooses by returning false to indicate either values are too stale or sensor went offline etc.

Member Function Documentation

getChassisWorldYaw()

virtual bool tap::algorithms::odometry::ChassisWorldYawObserverInterface::getChassisWorldYaw ( float *  yaw ) const

pure virtual

Get the chassis' "Yaw" in the world frame. Yaw is measured around the z-axis ("up") and sweeps from the positive x-axis of the world frame to the positive x-axis of the chassis. Positive rotation sweeps from world x-axis to world y-axis (standard right-hand rule). Positive z-axis of world frame is guaranteed to be up (opposite gravity).

Parameters

[out]

yaw

destination for chassis yaw in world frame in radians. Range is in (-pi, pi).

Returns

true if valid chassis orientation data was available, false otherwise.

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

• fang-mcb-project/taproot/src/tap/algorithms/odometry/chassis_world_yaw_observer_interface.hpp