Class Odometry2DTracker

Inheritance Relationships

Base Type

Class Documentation

class Odometry2DTracker : public tap::algorithms::odometry::Odometry2DInterface

Class for tracking the 2D position of an object over time.

The faster update() is called the better.

Public Functions

inline Odometry2DTracker(ChassisWorldYawObserverInterface *chassisYawObserver, ChassisDisplacementObserverInterface *chassisDisplacementObserver)

Note

It is essential that the chassisYawObserver and chassisDisplacementObserver use the same positive z-axis. The getter interfaces should enforce that they they use positive z-axis is up, but it’s worth noting here again.

Parameters:

  • chassisYawObserver – [in] pointer to an object which implements the ChassisWorldYawObserverInterface. Should return the angle of the chassis forward vector relative to the x-axis of the field.

  • chassisDisplacementObserver – [in] pointer to an object which implements the ChassisDisplacementObserverInterface. Used for getting the chassis displacement

void update()

Run logic and update tracked chassis position. Call frequently for better results.

inline virtual modm::Location2D<float> getCurrentLocation2D() const final

See also

Odometry2DInterface::getCurrentLocation2D()

Returns:

The current odometry frame.

inline virtual modm::Vector2f getCurrentVelocity2D() const final
inline virtual float getYaw() const final
inline virtual uint32_t getLastComputedOdometryTime() const final
virtual void overrideOdometryPosition(const float positionX, const float positionY)