maslab.odom
Class OdomIntegrator

java.lang.Object
  maslab.odom.OdomIntegrator

public class OdomIntegrator

extends java.lang.Object

Field Summary

double	baselineMeters
long	lastLeft
long	lastRight
double	leftScaleFactor
Logger	log
int	maximumTickValue
double	metersPerTick
double	rightScaleFactor
boolean	switchLeftRight
double	theta
double	x
double	y

Constructor Summary

OdomIntegrator()

Method Summary

OdomState	getState()
void	update(int leftTicks, int rightTicks)
void	update(OdomData od)
OdomData	update(Orc orc) handles the wrap-around business

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

leftScaleFactor

public double leftScaleFactor

rightScaleFactor

public double rightScaleFactor

switchLeftRight

public boolean switchLeftRight

metersPerTick

public double metersPerTick

baselineMeters

public double baselineMeters

theta

public double theta

x

public double x

y

public double y

maximumTickValue

public int maximumTickValue

log

public Logger log

lastLeft

public long lastLeft

lastRight

public long lastRight

Constructor Detail

OdomIntegrator

public OdomIntegrator()

Method Detail

update

public OdomData update(Orc orc)

handles the wrap-around business

update

public void update(OdomData od)

update

public void update(int leftTicks,
                   int rightTicks)

getState

public OdomState getState()