73 lines
1.7 KiB
C++
73 lines
1.7 KiB
C++
/**
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* @file include/lemlib/chassis/odom.hpp
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* @author LemLib Team
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* @brief This is the header file for the odom.cpp file. Its not meant to be used directly, only through the chassis
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* class
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* @version 0.4.5
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* @date 2023-01-23
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*
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* @copyright Copyright (c) 2023
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*
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*/
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#pragma once
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#include "lemlib/chassis/chassis.hpp"
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#include "lemlib/pose.hpp"
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namespace lemlib {
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/**
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* @brief Set the sensors to be used for odometry
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*
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* @param sensors the sensors to be used
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* @param drivetrain drivetrain to be used
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*/
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void setSensors(lemlib::OdomSensors sensors, lemlib::Drivetrain drivetrain);
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/**
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* @brief Get the pose of the robot
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*
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* @param radians true for theta in radians, false for degrees. False by default
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* @return Pose
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*/
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Pose getPose(bool radians = false);
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/**
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* @brief Set the Pose of the robot
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*
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* @param pose the new pose
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* @param radians true if theta is in radians, false if in degrees. False by default
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*/
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void setPose(Pose pose, bool radians = false);
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/**
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* @brief Get the speed of the robot
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*
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* @param radians true for theta in radians, false for degrees. False by default
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* @return lemlib::Pose
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*/
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Pose getSpeed(bool radians = false);
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/**
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* @brief Get the local speed of the robot
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*
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* @param radians true for theta in radians, false for degrees. False by default
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* @return lemlib::Pose
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*/
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Pose getLocalSpeed(bool radians = false);
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/**
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* @brief Estimate the pose of the robot after a certain amount of time
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*
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* @param time time in seconds
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* @param radians False for degrees, true for radians. False by default
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* @return lemlib::Pose
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*/
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Pose estimatePose(float time, bool radians = false);
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/**
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* @brief Update the pose of the robot
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*
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*/
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void update();
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/**
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* @brief Initialize the odometry system
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*
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*/
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void init();
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} // namespace lemlib
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