Class Odometry2DInterface

Defined in File odometry_2d_interface.hpp

Inheritance Relationships

Derived Type

public tap::algorithms::odometry::Odometry2DTracker (Class Odometry2DTracker)

Class Documentation

class Odometry2DInterface

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.

Subclassed by tap::algorithms::odometry::Odometry2DTracker

Public Functions

virtual modm::Location2D<float> getCurrentLocation2D() const = 0

Returns:: The current location (x and y coordinate) and orientation (in radians).

virtual modm::Vector2f getCurrentVelocity2D() const = 0

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

virtual float getYaw() const = 0

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

virtual uint32_t getLastComputedOdometryTime() const = 0

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