jakob.kampichler/libcreate
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Instantaneous velocity now available

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jacobperron 2016-02-02 19:31:06 -08:00
parent 43c7b95361
commit 81f18d58d4
4 changed files with 56 additions and 6 deletions
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8
include/create/create.h
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@ -34,12 +34,12 @@ POSSIBILITY OF SUCH DAMAGE.
#include <boost/shared_ptr.hpp>
#include <string>
#include <sys/time.h>
#include <unistd.h>
#include "create/serial.h"
#include "create/data.h"
#include "create/types.h"
#include "create/util.h"
namespace create {
class Create {
@ -64,12 +64,14 @@ namespace create {
uint8_t powerLEDIntensity;
create::Pose pose;
create::Vel vel;
uint32_t prevTicksLeft;
uint32_t prevTicksRight;
float prevLeftVel;
float prevRightVel;
bool firstOnData;
util::timestamp_t prevOnDataTime;
void init();
bool updateLEDs();
@ -346,6 +348,10 @@ namespace create {
/* Get the estimated position of Create based on it's wheel encoders.
*/
const create::Pose& getPose() const;
/* Get the estimated velocity of Create based on wheel encoders.
*/
const create::Vel& getVel() const;
}; // end Create class
} // namespace create