maslab.odom
Class OdomIntegrator

java.lang.Object
  extended by 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()