tracking_wheel_cfg_t Struct Reference

#include <odometry_nwheel.h>

Public Attributes
double	x
double	y
double	theta_rad
double	radius

Detailed Description

OdometryNWheel

This class handles the code for an N-pod odometry setup, where there are N <WHEELS> free spinning omni wheels (dead wheels) placed in any known configuration on the robot.

Example of a possible wheel configuration:

+Y ------------— ^ | === | | | | | | || O | | | || | | | === | | ------------— | +-------------------> + X

Where O is the center of rotation. The robot will monitor the changes in rotation of these wheels, use this to calculate a pose delta, then integrate the deltas over time to determine the robot's position.

This is a "set and forget" class, meaning once the object is created, the robot will immediately begin tracking it's movement in the background.

https://rit.enterprise.slack.com/files/U04112Y5RB6/F080M01KPA5/predictperpindiculars2.pdf 2024-2025 Notebook: Entries/Software Entries/Localization/N-Pod Odometry

Author

Jack Cammarata, Richie Sommers

Date

Nov 14 2024 tracking_wheel_cfg_t holds all the specifications for a single tracking wheel The units for x, y, and radius will determine the units of the position estimate

Member Data Documentation

radius

double tracking_wheel_cfg_t::radius

radius of the wheel

theta_rad

double tracking_wheel_cfg_t::theta_rad

angle between wheel direction and x axis in the robot frame

x

double tracking_wheel_cfg_t::x

x position of the center of the wheel

y

double tracking_wheel_cfg_t::y

y position of the center of the wheel

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The documentation for this struct was generated from the following file:

• odometry_nwheel.h