Package trclib.drivebase

Class TrcDriveBase.Odometry

java.lang.Object

trclib.drivebase.TrcDriveBase.Odometry

Enclosing class:

TrcDriveBase

public static class TrcDriveBase.Odometry
extends Object

This class implements the drive base odometry. It consists of the position as well as velocity info in all three degrees of movement (x, y, angle).

Field Summary

Fields

Modifier and Type	Field	Description
TrcPose2D	position
TrcPose2D	velocity

Constructor Summary

Constructors

Constructor	Description
Odometry()	Constructor: Create an instance of the object.
Odometry(TrcPose2D position, TrcPose2D velocity)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcDriveBase.Odometry	clone()	This method creates and returns a copy of this odometry.
(package private) void	setPositionAs(TrcPose2D pose)	This method sets the position info of the odometry to the given pose.
(package private) void	setVelocityAs(TrcPose2D pose)	This method sets the velocity info of the odometry to the given pose.
String	toString()	This method returns the string representation of the object.

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

position

public TrcPose2D position

velocity

public TrcPose2D velocity

Constructor Details

Odometry

public Odometry()

Constructor: Create an instance of the object.

Odometry

public Odometry(TrcPose2D position,
 TrcPose2D velocity)

Constructor: Create an instance of the object.

Parameters:

position - specifies the initial position.

velocity - specifies the initial velocity.

Method Details

toString

public String toString()

This method returns the string representation of the object.

Overrides:

toString in class Object

Returns:

string representation of the object.

clone

public TrcDriveBase.Odometry clone()

This method creates and returns a copy of this odometry.

Overrides:

clone in class Object

Returns:

a copy of this odometry.

setPositionAs

void setPositionAs(TrcPose2D pose)

This method sets the position info of the odometry to the given pose.

Parameters:

pose - specifies the pose to set the position info to.

setVelocityAs

void setVelocityAs(TrcPose2D pose)

This method sets the velocity info of the odometry to the given pose.

Parameters:

pose - specifies the pose to set the velocity info to.