public class DriveTrainPoseEstimator extends java.lang.Object implements ISensorDataSubscriber
Modifier and Type | Field and Description |
---|---|
int |
MAX_POSE_HISTORY_LENGTH_NUM_SAMPLES |
Constructor and Description |
---|
DriveTrainPoseEstimator(IProcessorInfo processor_info,
TimestampInfo quat_sensor_ts_info,
IDriveTrainKinematics drive_model,
ISensorInfo quat_sensor_info,
int quaternion_quantity_index,
ISensorInfo[] drive_wheel_distance_sensor_infos,
int drive_wheel_distance_quantity_index,
ISensorInfo[] steer_wheel_angle_sensor_infos,
int steer_wheel_angle_quantity_index,
ISensorInfo[] drive_motor_current_sensor_infos,
int drive_motor_current_quantity_index,
int history_length_num_samples) |
Modifier and Type | Method and Description |
---|---|
boolean |
getCurrentPose(TimestampedValue<Pose> out) |
boolean |
getPoseAtTimestamp(long timestamp,
TimestampedValue<Pose> out) |
void |
publish(IQuantity[] quantities,
Timestamp timestamp) |
void |
reset() |
public final int MAX_POSE_HISTORY_LENGTH_NUM_SAMPLES
public DriveTrainPoseEstimator(IProcessorInfo processor_info, TimestampInfo quat_sensor_ts_info, IDriveTrainKinematics drive_model, ISensorInfo quat_sensor_info, int quaternion_quantity_index, ISensorInfo[] drive_wheel_distance_sensor_infos, int drive_wheel_distance_quantity_index, ISensorInfo[] steer_wheel_angle_sensor_infos, int steer_wheel_angle_quantity_index, ISensorInfo[] drive_motor_current_sensor_infos, int drive_motor_current_quantity_index, int history_length_num_samples)
public void reset()
public boolean getCurrentPose(TimestampedValue<Pose> out)
public boolean getPoseAtTimestamp(long timestamp, TimestampedValue<Pose> out)
public void publish(IQuantity[] quantities, Timestamp timestamp)
publish
in interface ISensorDataSubscriber