44 lines
1.7 KiB
C++
44 lines
1.7 KiB
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "okapi/api/chassis/model/threeEncoderSkidSteerModel.hpp"
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#include "okapi/api/odometry/twoEncoderOdometry.hpp"
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#include "okapi/api/util/timeUtil.hpp"
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#include <functional>
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namespace okapi {
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class ThreeEncoderOdometry : public TwoEncoderOdometry {
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public:
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/**
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* Odometry. Tracks the movement of the robot and estimates its position in coordinates
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* relative to the start (assumed to be (0, 0)).
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*
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* @param itimeUtil The TimeUtil.
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* @param imodel The chassis model for reading sensors.
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* @param ichassisScales See ChassisScales docs (the middle wheel scale is the third member)
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* @param iwheelVelDelta The maximum delta between wheel velocities to consider the robot as
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* driving straight.
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* @param ilogger The logger this instance will log to.
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*/
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ThreeEncoderOdometry(const TimeUtil &itimeUtil,
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const std::shared_ptr<ReadOnlyChassisModel> &imodel,
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const ChassisScales &ichassisScales,
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const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
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protected:
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/**
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* Does the math, side-effect free, for one odom step.
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*
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* @param itickDiff The tick difference from the previous step to this step.
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* @param ideltaT The time difference from the previous step to this step.
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* @return The newly computed OdomState.
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*/
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OdomState odomMathStep(const std::valarray<std::int32_t> &itickDiff,
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const QTime &ideltaT) override;
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};
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} // namespace okapi
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