compAIR/libcreate
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Add apis for getting the measured velocities of the wheels

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This commit is contained in:
Erik Schembor 2017-12-13 22:04:22 -05:00
parent 3906d7954d
commit 5bc4d85177
2 changed files with 25 additions and 0 deletions
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14
include/create/create.h
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@ -83,6 +83,8 @@ namespace create {
Matrix poseCovar;
float measuredLeftVel;
float measuredRightVel;
float requestedLeftVel;
float requestedRightVel;
@ -560,6 +562,18 @@ namespace create {
*/
float getRightWheelDistance() const;
/**
* \brief Get the measured velocity of the left wheel.
* \return velocity in m/s
*/
float getMeasuredLeftWheelVel() const;
/**
* \brief Get the measured velocity of the right wheel.
* \return velocity in m/s
*/
float getMeasuredRightWheelVel() const;
/**
* \brief Get the requested velocity of the left wheel.
* This value is bounded at the maximum velocity of the robot model.