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Odom Tracker

Constructor​

OdomTracker()​

Constructs a OdomTraker object.

  OdomTracker();

Functions​

Updates the odometry system giving the new position from the trackers and orientation.

  void update_position( float ForwardTracker_position, float SidewaysTracker_position, float orientation_degrees);

Parameters
ForwardTracker_positionThe forward tracker position.
SidewaysTracker_position The sideways tracker position.
orientation_degrees The orientation in degrees.

Setters​

set_position()​

Sets the initial position for the odometry system.

    void set_position (float x_position, float y_position, float orientation_degrees ,float ForwardTracker_position, float SidewaysTracker_position);

Parameters
x_positionThe x coordinate..
y_position The y coordinate.
orientation_degrees the orientation in degrees.
ForwardTracker_positionthe forward tracker position.
SidewaysTracker_positionthe sideways tracker position.

set_physical_distances()​

Sets the physical distances that exist from each tracker to the center point.

    void set_physical_distances(float ForwardTracker_center_distance, float SidewaysTracker_center_distance);

Parameters
ForwardTracker_center_distanceThe distance between the center point and the forward tracker.
SidewaysTracker_center_distanceThe distance between the center point and the sideways tracker.