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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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6
matlab/WheeledRobot.m
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@@ -62,8 +62,8 @@ classdef WheeledRobot
methods (Access = 'public')
function [velocities, obj] = computeVelocities(obj, timestamp, leftWheelOdometry, rightWheelOdometry)
% Computes forward and angular velocities based on odometry.
function [poseChange, obj] = computePoseChange(obj, timestamp, leftWheelOdometry, rightWheelOdometry)
% Computes forward and angular poseChange based on odometry.
%
% Parameters:
@@ -104,7 +104,7 @@ classdef WheeledRobot
obj.rightWheelDegreesPrev = rightWheelDegreesCurr;
% Return linear velocity, angular velocity, time difference
velocities = [dxyMillimeters, dthetaDegrees, dtSeconds];
poseChange = [dxyMillimeters, dthetaDegrees, dtSeconds];
end
end