Struct WheeledTracking 

pub struct WheeledTracking { /* private fields */ }

Tracking system that uses wheels to track position and orientation.

Implementations

impl WheeledTracking

pub fn new<T: RotarySensor + 'static, U: RotarySensor + 'static, const NUM_FORWARD: usize, const NUM_SIDEWAYS: usize>( origin: Vec2<f64>, heading: Angle, forward_wheels: [TrackingWheel<T>; NUM_FORWARD], sideways_wheels: [TrackingWheel<U>; NUM_SIDEWAYS], imu: Option<InertialSensor>, ) -> Self

Creates a new wheeled tracking system.

pub fn forward_only<T: RotarySensor + 'static, const NUM_FORWARD: usize>( origin: Vec2<f64>, heading: Angle, forward_wheels: [TrackingWheel<T>; NUM_FORWARD], imu: Option<InertialSensor>, ) -> Self

Creates a new wheeled tracking system with no sideways tracking wheels.

pub fn set_heading(&mut self, heading: Angle)

Offsets the currently tracked heading to a given Angle.

pub fn set_position(&mut self, position: Vec2<f64>)

Sets the currently tracked position to a new point.

Trait Implementations

impl Debug for WheeledTracking

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl TracksForwardTravel for WheeledTracking

fn forward_travel(&self) -> f64

Returns the signed forward wheel travel of the robot in wheel units.

impl TracksHeading for WheeledTracking

fn heading(&self) -> Angle

Returns the robot’s orientation bounded from [0, 2π] radians.

impl TracksPosition for WheeledTracking

fn position(&self) -> Vec2<f64>

Return’s the robot’s position on a 2D cartesian coordinate plane measured in wheel units.

impl TracksVelocity for WheeledTracking

fn angular_velocity(&self) -> f64

Returns the robot’s estimated angular velocity in radians per second.

fn linear_velocity(&self) -> f64

Returns the robot’s estimated linear velocity in wheel units per second.