Package trclib.sensor

Class TrcOdometrySensor.Odometry

java.lang.Object

trclib.sensor.TrcOdometrySensor.Odometry

Enclosing interface:

TrcOdometrySensor

public static class TrcOdometrySensor.Odometry
extends Object

This class implements the generic sensor odometry. It consists of the position, velocity as well as acceleration info. If the sensor does not support velocity data. This class keeps track of the previous timestamp and position so we can calculate the velocity ourselves.

Field Summary

Fields

Modifier and Type	Field	Description
double	acceleration
double	currPos
double	currTimestamp
double	prevPos
double	prevTimestamp
Object	sensor
double	velocity
private static final boolean	VERBOSE

Constructor Summary

Constructors

Constructor	Description
Odometry(Object sensor)	Constructor: Create an instance of the object.
Odometry(Object sensor, double prevTimestamp, double currTimestamp, double prevPos, double currPos, double velocity, double acceleration)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcOdometrySensor.Odometry	clone()	This method creates and returns a copy of this odometry.
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

VERBOSE

private static final boolean VERBOSE

See Also:

• Constant Field Values

sensor

public Object sensor

prevTimestamp

public double prevTimestamp

currTimestamp

public double currTimestamp

prevPos

public double prevPos

currPos

public double currPos

velocity

public double velocity

acceleration

public double acceleration

Constructor Details

Odometry

public Odometry(Object sensor,
 double prevTimestamp,
 double currTimestamp,
 double prevPos,
 double currPos,
 double velocity,
 double acceleration)

Constructor: Create an instance of the object.

Parameters:

sensor - specifies the sensor object.

prevTimestamp - specifies the timestamp of the previous data.

currTimestamp - specifies the timestamp of the current data.

prevPos - specifies the previous position data.

currPos - specifies the current position data.

velocity - specifies the velocity data. This data may be considered redundant because one can derive velocity from (deltaPosition/deltaTime). However, some sensors may support velocity data, so this field may contain sensor reported velocity or derived velocity.

acceleration - specifies the acceleration data. This data may be considered redundant because one can derive velocity from (deltaVelocity/deltaTime). However, some sensors may support acceleration data, so this field may contain sensor reported acceleration or derived acceleration.

Odometry

public Odometry(Object sensor)

Constructor: Create an instance of the object.

Parameters:

sensor - specifies the sensor object.

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 TrcOdometrySensor.Odometry clone()

This method creates and returns a copy of this odometry.

Overrides:

clone in class Object

Returns:

a copy of this odometry.