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Use "pose change" instead of "velocities" for (dxy_mm, dtheta_degrees, dt_seconds)

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Simon D. Levy
2018-06-03 14:38:07 -04:00
parent 8934a3370f
commit 081d33aedf
23 changed files with 113 additions and 135 deletions
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22
cpp/algorithms.hpp
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@@ -47,7 +47,7 @@ class Laser;
* </pre>
* Implementing classes should provide the method
*
* void updateMapAndPointcloud(int * scan_mm, Velocities & velocities)
* void updateMapAndPointcloud(int * scan_mm, PoseChange & poseChange)
*
* to update the map and point-cloud (particle cloud).
*
@@ -74,17 +74,17 @@ public:
/**
* Updates the scan and odometry, and calls the the implementing class's updateMapAndPointcloud method with
* the specified velocities.
* the specified poseChange.
*
* @param scan_mm Lidar scan values, whose count is specified in the <tt>scan_size</tt>
* attribute of the Laser object passed to the CoreSlam constructor
* @param velocities velocities for odometry
* @param poseChange poseChange for odometry
*/
void update(int * scan_mm, Velocities & velocities);
void update(int * scan_mm, PoseChange & poseChange);
/**
* Updates the scan, and calls the the implementing class's updateMapAndPointcloud method with zero velocities
* Updates the scan, and calls the the implementing class's updateMapAndPointcloud method with zero poseChange
* (no odometry).
* @param scan_mm Lidar scan values, whose count is specified in the <tt>scan_size</tt>
* attribute of the Laser object passed to the CoreSlam constructor
@@ -139,15 +139,15 @@ protected:
Scan * scan_for_distance;
/**
* The current velocities from odometry
* The current poseChange from odometry
*/
class Velocities * velocities;
class PoseChange * poseChange;
/**
* Updates the map and point-cloud (particle cloud). Called automatically by CoreSLAM::update()
* @param velocities velocities for odometry
* @param poseChange poseChange for odometry
*/
virtual void updateMapAndPointcloud(Velocities & velocities) = 0;
virtual void updateMapAndPointcloud(PoseChange & poseChange) = 0;
private:
@@ -191,9 +191,9 @@ protected:
/**
* Updates the map and point-cloud (particle cloud). Called automatically by CoreSLAM::update()
* @param velocities velocities for odometry
* @param poseChange poseChange for odometry
*/
void updateMapAndPointcloud(Velocities & velocities);
void updateMapAndPointcloud(PoseChange & poseChange);
/**
* Returns a new position based on searching from a starting position. Called automatically by