TrcOdometryWheels.AxisSensor

java.lang.Object

trclib.sensor.TrcOdometryWheels.AxisSensor

Enclosing class:: TrcOdometryWheels

public static class TrcOdometryWheels.AxisSensor extends Object

This class encapsulates an axis sensor with its axis offset.

Field Summary

Fields

Modifier and Type

Field

Description

(package private) final double

angleOffset

(package private) final double

axisOffset

private TrcOdometrySensor.Odometry

odometry

(package private) final TrcOdometrySensor

sensor
Constructor Summary

Constructors

Constructor

Description

AxisSensor(TrcOdometrySensor sensor)

Constructor: Create an instance of the object.

AxisSensor(TrcOdometrySensor sensor, double parallelOffset)

Constructor: Create an instance of the object.

AxisSensor(TrcOdometrySensor sensor, double parallelOffset, double orthogonalOffset)

Constructor: Create an instance of the odometry wheel
Method Summary

Modifier and Type

Method

Description

String

toString()

This method returns the sensor info in string form.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details
- sensor
  
  final TrcOdometrySensor sensor
- axisOffset
  
  final double axisOffset
- angleOffset
  
  final double angleOffset
- odometry
  
  private TrcOdometrySensor.Odometry odometry
Constructor Details
- AxisSensor
  
  public AxisSensor(TrcOdometrySensor sensor, double parallelOffset, double orthogonalOffset)
  
  Constructor: Create an instance of the odometry wheel
  
  Parameters:
  
  sensor - specifies the odometry sensor.
  
  parallelOffset - specifies the distance offset of the line parallel to the odometry wheel from the wheel base centroid.
  
  orthogonalOffset - specifies the distance offset of the line orthogonal to the odometry wheel from wheel base centroid.
- AxisSensor
  
  public AxisSensor(TrcOdometrySensor sensor, double parallelOffset)
  
  Constructor: Create an instance of the object. The odometry wheel is tangent to the turning circle.
  
  Parameters:
  
  sensor - specifies the odometry sensor.
  
  parallelOffset - specifies the parallel axis offset from wheel base centroid.
- AxisSensor
  
  public AxisSensor(TrcOdometrySensor sensor)
  
  Constructor: Create an instance of the object. The odometry wheel is at the center of the turning circle.
  
  Parameters:
  
  sensor - specifies the odometry sensor.
Method Details
- toString
  
  public String toString()
  
  This method returns the sensor info in string form.
  
  Overrides:
  
  toString in class Object
  
  Returns:
  
  string form of sensor info.