public interface IDriveTrainKinematics
Modifier and Type | Method and Description |
---|---|
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.
|
DriveTrainParameters getDriveTrainParameters()
DriveTrainParameters
object
which describes the characteristics of the drive train which impact the
kinematic equations.DriveTrainParameters
object.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)
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.drive_wheel_distance_delta_inches
- An array of measured drive wheel distance changes which
occurred since the last time this step() method was invoked.
These values are assumed to be measured coincident with the
timestamp member of the quat_curr input parameter.
The size of this array must be equal to the number of drive
wheels previously provided in the DriveTrainParameter object
used to initialize the object which implements the
DriveTrainKinematics interface.
The array order of Drive Wheel velocities begins at the left
front corner of the robot (looking down on the robot) and
proceeds in increasing order clockwise around the robot.steer_wheel_angle_curr
- An array of current steering wheel angles. These angles are
assumed to be measured coincident with the timestamp member of
the quat_curr input parameter.
The size of this array must be equal to the number of steering
wheels previously provided in the DriveTrainParameter object
used to initialize the object which implements the
DriveTrainKinematics interface.
NOTE: set steer_wheel_angle_curr to null if this drivetrain
does not provide separate steering wheels.
The array order of Steer Wheel angles begins at the left front
corner of the robot (looking down on the robot) and proceeds
in increasing order clockwise around the robot.pose_curr_out
- The estimated current drivetrain pose based upon the
parameters to this method.