tap::algorithms::odometry::Odometry2DTracker Class Reference

#include <odometry_2d_tracker.hpp>

Inheritance diagram for tap::algorithms::odometry::Odometry2DTracker:

Collaboration diagram for tap::algorithms::odometry::Odometry2DTracker:

Public Member Functions
	Odometry2DTracker (ChassisWorldYawObserverInterface *chassisYawObserver, ChassisDisplacementObserverInterface *chassisDisplacementObserver)
void	update ()
modm::Location2D< float >	getCurrentLocation2D () const final
modm::Vector2f	getCurrentVelocity2D () const final
float	getYaw () const final
uint32_t	getLastComputedOdometryTime () const final
void	overrideOdometryPosition (const float positionX, const float positionY)

Detailed Description

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

The faster update() is called the better.

Constructor & Destructor Documentation

Odometry2DTracker()

tap::algorithms::odometry::Odometry2DTracker::Odometry2DTracker ( ChassisWorldYawObserverInterface *  chassisYawObserver, ChassisDisplacementObserverInterface *  chassisDisplacementObserver  )

inline

Parameters

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

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.

Member Function Documentation

getCurrentLocation2D()

modm::Location2D< float > tap::algorithms::odometry::Odometry2DTracker::getCurrentLocation2D ( ) const

inlinefinalvirtual

Returns

The current odometry frame.

See also

Odometry2DInterface::getCurrentLocation2D()

Implements tap::algorithms::odometry::Odometry2DInterface.

getCurrentVelocity2D()

modm::Vector2f tap::algorithms::odometry::Odometry2DTracker::getCurrentVelocity2D ( ) const

inlinefinalvirtual

Returns

The current x and y velocity (in m/s).

Implements tap::algorithms::odometry::Odometry2DInterface.

getLastComputedOdometryTime()

uint32_t tap::algorithms::odometry::Odometry2DTracker::getLastComputedOdometryTime ( ) const

inlinefinalvirtual

Returns

The last time that odometry was computed (in microseconds).

Implements tap::algorithms::odometry::Odometry2DInterface.

getYaw()

float tap::algorithms::odometry::Odometry2DTracker::getYaw ( ) const

inlinefinalvirtual

Returns

The current yaw orientation of the chassis in the world frame in radians.

Implements tap::algorithms::odometry::Odometry2DInterface.

overrideOdometryPosition()

void tap::algorithms::odometry::Odometry2DTracker::overrideOdometryPosition ( const float  positionX, const float  positionY  )

virtual

Implements tap::algorithms::odometry::Odometry2DInterface.

update()

void tap::algorithms::odometry::Odometry2DTracker::update

(

)

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

< Rotational velocity doesn't matter

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

• fang-mcb-project/taproot/src/tap/algorithms/odometry/odometry_2d_tracker.hpp
• fang-mcb-project/taproot/src/tap/algorithms/odometry/odometry_2d_tracker.cpp