IOdometryModel2D Class Reference

Abstract interface for 2D odometry models. More...

#include <IOdometryModel2D.h>

Inheritance diagram for IOdometryModel2D:

Collaboration diagram for IOdometryModel2D:

Public Member Functions
virtual	~IOdometryModel2D ()=default
	Virtual destructor for interface.
virtual Speed	getSpeed () const =0
	Get the current speed of the vehicle.
virtual Angle	getSteeringAngle () const =0
	Get the current steering angle of the vehicle.
virtual void	updateSpeed (uint32_t deltaTimeMs)=0
	Update the speed estimate based on elapsed time.
virtual void	setSpeedSource (ISpeedSource &speedSource)=0
	Set the speed source (e.g., encoder, estimator) for this model.
virtual void	registerCallback (void(*callback)(void *), void *userData)=0
	Register a callback to be invoked on relevant events (e.g., input change, update).
virtual float	computeDeltaTheta (uint16_t deltaTimeMs) const =0
	Compute heading change (deltaTheta) for odometry kinematics.
virtual void	computeDeltaXY (float theta, uint32_t deltaTimeMs, float &deltaX, float &deltaY) const =0
	Compute position change (deltaX, deltaY) for odometry kinematics.
Public Member Functions inherited from MessageHandler
virtual bool	onMessage (const Message< float > &msg)=0
	Handle an incoming message (pure virtual).
virtual bool	onMessage (const Message< Coordinate< float > > &msg)
virtual bool	onMessage (const Message< GPSCoordinate > &msg)
virtual bool	onMessage (const Message< MotionState3D > &msg)

Detailed Description

Abstract interface for 2D odometry models.

Member Function Documentation

computeDeltaTheta()

virtual float computeDeltaTheta ( uint16_t  deltaTimeMs ) const

pure virtual

Compute heading change (deltaTheta) for odometry kinematics.

Parameters

speed	Speed of the vehicle (meters/second)
steeringAngle	Steering angle (radians)
deltaTimeMs	Time interval (milliseconds)

Returns

Change in heading (radians)

Implemented in OdometryDifferentialDriveModel, and OdometryModel2D.

computeDeltaXY()

virtual void computeDeltaXY ( float  theta, uint32_t  deltaTimeMs, float &  deltaX, float &  deltaY  ) const

pure virtual

Compute position change (deltaX, deltaY) for odometry kinematics.

Parameters

	speed	Speed of the vehicle (meters/second)
	theta	Heading (radians)
	deltaTimeMs	Time interval (milliseconds)
[out]	deltaX	Change in X position (meters)
[out]	deltaY	Change in Y position (meters)

Implemented in OdometryDifferentialDriveModel, and OdometryModel2D.

getSpeed()

virtual Speed getSpeed ( ) const

pure virtual

Get the current speed of the vehicle.

Returns

Speed of the vehicle (meters/second)

Implemented in OdometryDifferentialDriveModel, and OdometryModel2D.

getSteeringAngle()

virtual Angle getSteeringAngle ( ) const

pure virtual

Get the current steering angle of the vehicle.

Returns

Steering angle (radians)

Implemented in OdometryDifferentialDriveModel, and OdometryModel2D.

registerCallback()

virtual void registerCallback ( void(*)(void *)  callback, void *  userData  )

pure virtual

Register a callback to be invoked on relevant events (e.g., input change, update).

Parameters

callback	Function pointer with signature void callback(void* userData)
userData	User-provided pointer passed to the callback

setSpeedSource()

virtual void setSpeedSource ( ISpeedSource &  speedSource )

pure virtual

Set the speed source (e.g., encoder, estimator) for this model.

Parameters

speedSource

Reference to an ISpeedSource implementation

Implemented in OdometryDifferentialDriveModel, and OdometryModel2D.

updateSpeed()

virtual void updateSpeed ( uint32_t  deltaTimeMs )

pure virtual

Update the speed estimate based on elapsed time.

Parameters

deltaTimeMs

Time interval (milliseconds)

Implemented in OdometryDifferentialDriveModel, and OdometryModel2D.

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

• src/TinyRobotics/odometry/IOdometryModel2D.h