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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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12
java/edu/wlu/cs/levy/breezyslam/robots/WheeledRobot.java
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@@ -23,12 +23,12 @@
package edu.wlu.cs.levy.breezyslam.robots;
import edu.wlu.cs.levy.breezyslam.components.Velocities;
import edu.wlu.cs.levy.breezyslam.components.PoseChange;
/**
* An abstract class for wheeled robots. Supports computation of forward and angular
* velocities based on odometry. Your subclass should should implement the
* poseChange based on odometry. Your subclass should should implement the
* extractOdometry method.
*/
public abstract class WheeledRobot
@@ -59,14 +59,14 @@ public abstract class WheeledRobot
}
/**
* Computes forward and angular velocities based on odometry.
* Computes forward and angular poseChange based on odometry.
* @param timestamp time stamp, in whatever units your robot uses
* @param left_wheel_odometry odometry for left wheel, in whatever units your robot uses
* @param right_wheel_odometry odometry for right wheel, in whatever units your robot uses
* @return velocities object representing velocities for these odometry values
* @return poseChange object representing poseChange for these odometry values
*/
public Velocities computeVelocities( double timestamp, double left_wheel_odometry, double right_wheel_odometry)
public PoseChange computePoseChange( double timestamp, double left_wheel_odometry, double right_wheel_odometry)
{
WheelOdometry odometry = this.extractOdometry(timestamp, left_wheel_odometry, right_wheel_odometry);
@@ -91,7 +91,7 @@ public abstract class WheeledRobot
this.left_wheel_degrees_prev = odometry.left_wheel_degrees;
this.right_wheel_degrees_prev = odometry.right_wheel_degrees;
return new Velocities(dxy_mm, dtheta_degrees, dt_seconds);
return new PoseChange(dxy_mm, dtheta_degrees, dt_seconds);
}
/**