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26 | 1398 | cmar | <h1>odometry.h File Reference</h1>Code for estimating the robots pose. |
27 | <a href="#_details">More...</a> |
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28 | 1371 | chihsiuh | <p>
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29 | |||
30 | <p>
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31 | 1398 | cmar | <a href="odometry_8h_source.html">Go to the source code of this file.</a><table border="0" cellpadding="0" cellspacing="0"> |
32 | 1371 | chihsiuh | <tr><td></td></tr> |
33 | <tr><td colspan="2"><br><h2>Defines</h2></td></tr> |
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34 | <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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35 | #define </td><td class="memItemRight" valign="bottom"><b>ODOMETRY_CLK</b> 255u</td></tr> |
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36 | |||
37 | <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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38 | #define </td><td class="memItemRight" valign="bottom"><b>TIME_SCALE</b> 64</td></tr> |
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39 | |||
40 | <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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41 | #define </td><td class="memItemRight" valign="bottom"><b>ROBOT_WIDTH_UM</b> 137000</td></tr> |
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42 | |||
43 | <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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44 | #define </td><td class="memItemRight" valign="bottom"><b>CLICK_DISTANCE_UM</b> 204</td></tr> |
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45 | |||
46 | <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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47 | #define </td><td class="memItemRight" valign="bottom"><b>DISTANCE_SCALE</b> 2.10526316</td></tr> |
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48 | |||
49 | <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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50 | #define </td><td class="memItemRight" valign="bottom"><b>ANGLE_SCALE</b> 1.12823207</td></tr> |
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51 | |||
52 | <tr><td colspan="2"><br><h2>Functions</h2></td></tr> |
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53 | <tr><td class="memItemLeft" nowrap align="right" valign="top">long </td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g31c085285b8a8c5049123640e228741a">odometry_dx</a> (void)</td></tr> |
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54 | |||
55 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieve the robots estimated x position. <a href="group__odometry.html#g31c085285b8a8c5049123640e228741a"></a><br></td></tr> |
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56 | <tr><td class="memItemLeft" nowrap align="right" valign="top">long </td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g52bee31a0838e0a782758c90e4fa35df">odometry_dy</a> (void)</td></tr> |
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57 | |||
58 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieve the robots estimated y position. <a href="group__odometry.html#g52bee31a0838e0a782758c90e4fa35df"></a><br></td></tr> |
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59 | <tr><td class="memItemLeft" nowrap align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g85a0a0b11d2adf53e2f88a836080d1f4">odometry_angle</a> (void)</td></tr> |
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60 | |||
61 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieve the robots estimated orientation. <a href="group__odometry.html#g85a0a0b11d2adf53e2f88a836080d1f4"></a><br></td></tr> |
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62 | <tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g9ccb8b57330f6769afa0f68be3a6d564">odometry_init</a> (void)</td></tr> |
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63 | |||
64 | <tr><td class="mdescLeft"> </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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65 | <tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#g778f4744dfbdb1923b51cc43f0e9ff37">odometry_reset</a> (void)</td></tr> |
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67 | <tr><td class="mdescLeft"> </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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68 | <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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69 | long </td><td class="memItemRight" valign="bottom"><a class="el" href="group__odometry.html#gc958e4b80d89acf8b61a140b49353ff7">odometry_velocity</a> (void)</td></tr> |
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71 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Report estimated velocity [mm/s]. <br></td></tr> |
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72 | </table>
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73 | 1398 | cmar | <hr><h2>Detailed Description</h2> |
74 | 1371 | chihsiuh | Code for estimating the robots pose. |
75 | <p>
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76 | Offers simple position and orientation information.<p>
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77 | <dl class="author" compact><dt><b>Author:</b></dt><dd>Colony Project, CMU Robotics Club </dd></dl> |
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78 | </div>
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79 | 1398 | cmar | <hr size="1"><address style="text-align: right;"><small>Generated on Mon Sep 7 19:07:28 2009 for libdragonfly by |
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81 | 1398 | cmar | <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.9 </small></address> |
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