compAIR/libcreate
compAIR/libcreate
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Minor refactor

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This commit is contained in:
Jacob Perron 2016-04-15 14:33:59 -07:00
parent 82b01e4057
commit 44a6f809e8
3 changed files with 11 additions and 7 deletions
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4
include/create/create.h
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@ -454,11 +454,11 @@ namespace create {
/* Get the estimated position of Create based on wheel encoders.
*/
const create::Pose& getPose() const;
create::Pose getPose() const;
/* Get the estimated velocity of Create based on wheel encoders.
*/
const create::Vel& getVel() const;
create::Vel getVel() const;
/* Get the number of corrupt serial packets since first connecting to Create.
*/

6
include/create/types.h
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@ -32,10 +32,12 @@ POSSIBILITY OF SUCH DAMAGE.
#ifndef CREATE_TYPES_H
#define CREATE_TYPES_H
#include <vector>
namespace create {
enum RobotModel {
CREATE_1 = 0, // Roomba 400 series
CREATE_2 // Roomba 600 series
CREATE_2 // Roomba 600 series
};
enum SensorPacketID {
@ -226,7 +228,7 @@ namespace create {
float x;
float y;
float yaw;
float covariance[9];
std::vector<float> covariance;
};
typedef Pose Vel;