Interface for retrieving the position of a robot chassis in 2 dimensions. More...
#include <odometry_2d_interface.hpp>
Public Member Functions | |
| virtual modm::Location2D< float > | getCurrentLocation2D () const =0 |
| virtual modm::Vector2f | getCurrentVelocity2D () const =0 |
| virtual float | getYaw () const =0 |
| virtual uint32_t | getLastComputedOdometryTime () const =0 |
| virtual void | overrideOdometryPosition (const float positionX, const float positionY)=0 |
Detailed Description
Interface for retrieving the position of a robot chassis in 2 dimensions.
The coordinates measured are relative to some reference coordinate frame which has a fixed position and fixed orientation. The reference coordinate frame's position and orientation are implementation defined.
As to why this interface exists separately from a more generic 3D implementation: 2D odometry requires less sensor data (all it needs is chassis yaw in the world frame), and performs simpler computations than a 3D odometry system would require.
Member Function Documentation
◆ getCurrentLocation2D()
|
pure virtual |
- Returns
- The current location (x and y coordinate) and orientation (in radians).
Implemented in tap::algorithms::odometry::Odometry2DTracker.
◆ getCurrentVelocity2D()
|
pure virtual |
- Returns
- The current x and y velocity (in m/s).
Implemented in tap::algorithms::odometry::Odometry2DTracker.
◆ getLastComputedOdometryTime()
|
pure virtual |
- Returns
- The last time that odometry was computed (in microseconds).
Implemented in tap::algorithms::odometry::Odometry2DTracker.
◆ getYaw()
|
pure virtual |
- Returns
- The current yaw orientation of the chassis in the world frame in radians.
Implemented in tap::algorithms::odometry::Odometry2DTracker.
◆ overrideOdometryPosition()
|
pure virtual |
Implemented in tap::algorithms::odometry::Odometry2DTracker.
The documentation for this class was generated from the following file:
- fang-mcb-project/taproot/src/tap/algorithms/odometry/odometry_2d_interface.hpp
