public class Kinematics_HSlide extends java.lang.Object implements IDriveTrainKinematics
Constructor and Description |
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Kinematics_HSlide(DriveTrainParameters drive_params) |
Modifier and Type | Method and Description |
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DriveTrainParameters |
getDriveTrainParameters()
The getDriveTrainParameters returns a
DriveTrainParameters object
which describes the characteristics of the drive train which impact the
kinematic equations. |
boolean |
step(Timestamp system_timestamp,
TimestampedValue<Pose> pose_last,
TimestampedValue<Quaternion> quat_curr,
java.util.List<TimestampedValue<Scalar>> drive_wheel_distance_delta_curr,
java.util.List<TimestampedValue<Scalar>> steer_wheel_angle_degrees_curr,
java.util.List<TimestampedValue<Scalar>> drive_motor_current_amps_curr,
TimestampedValue<Pose> pose_curr_out)
The step() method is invoked repeatedly to calculate the estimated change
in drivetrain pose since the last invocation.
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public Kinematics_HSlide(DriveTrainParameters drive_params)
public DriveTrainParameters getDriveTrainParameters()
IDriveTrainKinematics
DriveTrainParameters
object
which describes the characteristics of the drive train which impact the
kinematic equations.getDriveTrainParameters
in interface IDriveTrainKinematics
DriveTrainParameters
object.public boolean step(Timestamp system_timestamp, TimestampedValue<Pose> pose_last, TimestampedValue<Quaternion> quat_curr, java.util.List<TimestampedValue<Scalar>> drive_wheel_distance_delta_curr, java.util.List<TimestampedValue<Scalar>> steer_wheel_angle_degrees_curr, java.util.List<TimestampedValue<Scalar>> drive_motor_current_amps_curr, TimestampedValue<Pose> pose_curr_out)
IDriveTrainKinematics
step
in interface IDriveTrainKinematics
system_timestamp
- The system timestamp representing the timestamp on the system
executing this software. As much as possible, this timestamp
represents the time that the data provided in the following
parameters was acquired, and can be used to align data in time
when provided by sensors without an internal timestamp
mechanism.pose_last
- The last estimated pose generated by this step() method. If
this is the first time this step() method has been invoked,
the pose object will have been initialized to a
"starting point" quaternion, translational offsets and valid
"starting timestamp".quat_curr
- The current estimated quaternion representing the drivetrain
orientation, as well as a timestamp representing the time the
quaternion was generated.pose_curr_out
- The estimated current drivetrain pose based upon the
parameters to this method.