OdometryModel2D Class Reference

Odometry model for Ackermann, differential drive, and boat kinematics. More...

#include <OdometryModel2D.h>

Inheritance diagram for OdometryModel2D:

Collaboration diagram for OdometryModel2D:

Public Member Functions
	OdometryModel2D (Distance wheelBase)
void	setSpeedSource (ISpeedSource &speedSource) override
	Set the speed source (e.g., encoder, estimator) for this model.
void	setSteeringAngle (Angle angle)
void	setSpeed (Speed speed)
virtual void	updateSpeed (uint32_t deltaTimeMs)
	Update the speed estimate based on elapsed time.
float	computeDeltaTheta (uint16_t deltaTimeMs) const override
	Compute heading change (deltaTheta) for Ackermann kinematics.
void	computeDeltaXY (float theta, uint32_t deltaTimeMs, float &deltaX, float &deltaY) const override
	Compute position change (deltaX, deltaY) for odometry kinematics.
bool	onMessage (const Message< float > &msg)
	Handle an incoming message (pure virtual).
void	setCallback (void(*callback)(void *), void *userData)
Speed	getSpeed () const override
	Get the current speed of the vehicle.
Angle	getSteeringAngle () const override
	Get the current steering angle of the vehicle.
Public Member Functions inherited from IOdometryModel2D
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

Odometry model for Ackermann, differential drive, and boat kinematics.

This model computes the change in heading (theta) for:

• Ackermann steering vehicles (car-like, with nonzero wheelBase)
• Differential drive robots (wheelBase = 0, steeringAngle is angular velocity)
• Boats (set wheelBase to the distance to the rudder; steeringAngle is rudder angle)

Kinematic Handling

• If wheelBase > 0: Uses Ackermann/boat kinematics: omega = v * tan(steeringAngle) / wheelBase
• If wheelBase == 0: Uses differential drive convention: omega = steeringAngle (interpreted as angular velocity)

Boat Note

For boats, set wheelBase to the distance from the center of mass to the rudder, and provide the rudder angle as steeringAngle.

Author

TinyRobotics contributors

Date

2026-04-07

Member Function Documentation

computeDeltaTheta()

float computeDeltaTheta ( uint16_t  deltaTimeMs ) const

inlineoverridevirtual

Compute heading change (deltaTheta) for Ackermann kinematics.

Parameters

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

Returns

Change in heading (radians)

Implements IOdometryModel2D.

computeDeltaXY()

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

inlineoverridevirtual

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)

Implements IOdometryModel2D.

getSpeed()

Speed getSpeed ( ) const

inlineoverridevirtual

Get the current speed of the vehicle.

Returns

Speed of the vehicle (meters/second)

Implements IOdometryModel2D.

getSteeringAngle()

Angle getSteeringAngle ( ) const

inlineoverridevirtual

Get the current steering angle of the vehicle.

Returns

Steering angle (radians)

Implements IOdometryModel2D.

onMessage()

bool onMessage ( const Message< float > &  msg )

inlinevirtual

Handle an incoming message (pure virtual).

This method should be implemented by derived classes to process messages.

Parameters

msg	The message to handle.

Returns

true if the message was handled successfully, false otherwise.

Implements MessageHandler.

setSpeedSource()

void setSpeedSource ( ISpeedSource &  speedSource )

inlineoverridevirtual

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

Parameters

speedSource

Reference to an ISpeedSource implementation

Implements IOdometryModel2D.

updateSpeed()

virtual void updateSpeed ( uint32_t  deltaTimeMs )

inlinevirtual

Update the speed estimate based on elapsed time.

Parameters

deltaTimeMs

Time interval (milliseconds)

Implements IOdometryModel2D.

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

• src/TinyRobotics/odometry/OdometryModel2D.h