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<h1>odometry.h File Reference</h1>Code for estimating the robots pose. <a href="#_details">More...</a>
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<p>
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<p>
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<a href="odometry_8h-source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0">
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<tr><td></td></tr>
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<tr><td colspan="2"><br><h2>Defines</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gea4914268d0abe55b9caafac537bc263"></a><!-- doxytag: member="odometry.h::ODOMETRY_CLK" ref="gea4914268d0abe55b9caafac537bc263" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ODOMETRY_CLK</b>&nbsp;&nbsp;&nbsp;255u</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g3104e6ab77c71296e6879fc57af26e8e"></a><!-- doxytag: member="odometry.h::TIME_SCALE" ref="g3104e6ab77c71296e6879fc57af26e8e" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>TIME_SCALE</b>&nbsp;&nbsp;&nbsp;64</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gc7a3a8ed9add07ef101e2265dc954b63"></a><!-- doxytag: member="odometry.h::ROBOT_WIDTH_UM" ref="gc7a3a8ed9add07ef101e2265dc954b63" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ROBOT_WIDTH_UM</b>&nbsp;&nbsp;&nbsp;137000</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gcf7c58b37a2d5cb3793a4f94c2fd1ab0"></a><!-- doxytag: member="odometry.h::CLICK_DISTANCE_UM" ref="gcf7c58b37a2d5cb3793a4f94c2fd1ab0" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>CLICK_DISTANCE_UM</b>&nbsp;&nbsp;&nbsp;204</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g30e5d468b11a21497a943586ed536d81"></a><!-- doxytag: member="odometry.h::DISTANCE_SCALE" ref="g30e5d468b11a21497a943586ed536d81" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>DISTANCE_SCALE</b>&nbsp;&nbsp;&nbsp;2.10526316</td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g7618f3a2fe3ffe816299501556cea637"></a><!-- doxytag: member="odometry.h::ANGLE_SCALE" ref="g7618f3a2fe3ffe816299501556cea637" args="" -->
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#define&nbsp;</td><td class="memItemRight" valign="bottom"><b>ANGLE_SCALE</b>&nbsp;&nbsp;&nbsp;1.12823207</td></tr>
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<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g31c085285b8a8c5049123640e228741a">odometry_dx</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated x position.  <a href="group__odometry.html#g31c085285b8a8c5049123640e228741a"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g52bee31a0838e0a782758c90e4fa35df">odometry_dy</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated y position.  <a href="group__odometry.html#g52bee31a0838e0a782758c90e4fa35df"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g85a0a0b11d2adf53e2f88a836080d1f4">odometry_angle</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Retrieve the robots estimated orientation.  <a href="group__odometry.html#g85a0a0b11d2adf53e2f88a836080d1f4"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g9ccb8b57330f6769afa0f68be3a6d564">odometry_init</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Initialize odometry. MUST be called before the other functions work.  <a href="group__odometry.html#g9ccb8b57330f6769afa0f68be3a6d564"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top">void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g778f4744dfbdb1923b51cc43f0e9ff37">odometry_reset</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Reset position and orientation to the origin facing the x axis.  <a href="group__odometry.html#g778f4744dfbdb1923b51cc43f0e9ff37"></a><br></td></tr>
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<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="gc958e4b80d89acf8b61a140b49353ff7"></a><!-- doxytag: member="odometry.h::odometry_velocity" ref="gc958e4b80d89acf8b61a140b49353ff7" args="(void)" -->
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long&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#gc958e4b80d89acf8b61a140b49353ff7">odometry_velocity</a> (void)</td></tr>
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<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Report estimated velocity [mm/s]. <br></td></tr>
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</table>
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<hr><a name="_details"></a><h2>Detailed Description</h2>
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Code for estimating the robots pose. 
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<p>
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Offers simple position and orientation information.<p>
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<dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl>
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