Kobuki 1.0.0
C++ API for the Kobuki research robot
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Public Member Functions | List of all members
kobuki::DiffDrive Class Reference

Public Member Functions

const ecl::DifferentialDrive::Kinematics & kinematics ()
 
void update (const uint16_t &time_stamp, const uint16_t &left_encoder, const uint16_t &right_encoder, ecl::linear_algebra::Vector3d &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates)
 Updates the odometry from firmware stamps and encoders.
 
void reset ()
 
void getWheelJointStates (double &wheel_left_angle, double &wheel_left_angle_rate, double &wheel_right_angle, double &wheel_right_angle_rate)
 
void setVelocityCommands (const double &vx, const double &wz)
 
void velocityCommands (const double &vx, const double &wz)
 
void velocityCommands (const short &cmd_speed, const short &cmd_radius)
 
void velocityCommands (const std::vector< double > &cmd)
 
void velocityCommands (const std::vector< short > &cmd)
 
std::vector< short > velocityCommands ()
 
std::vector< double > pointVelocity () const
 
double wheel_bias () const
 

Member Function Documentation

◆ update()

void kobuki::DiffDrive::update ( const uint16_t &  time_stamp,
const uint16_t &  left_encoder,
const uint16_t &  right_encoder,
ecl::linear_algebra::Vector3d &  pose_update,
ecl::linear_algebra::Vector3d &  pose_update_rates 
)

Updates the odometry from firmware stamps and encoders.

Really horrible - could do with an overhaul.

Parameters
time_stamp
left_encoder
right_encoder
pose_update
pose_update_rates
The documentation for this class was generated from the following files: