Omni wheel drive odometry update#2286
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Additional details and impacted files@@ Coverage Diff @@
## master #2286 +/- ##
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- Coverage 86.76% 86.66% -0.11%
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Files 148 149 +1
Lines 15838 15897 +59
Branches 1347 1351 +4
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+ Hits 13742 13777 +35
- Misses 1601 1622 +21
- Partials 495 498 +3
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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This pull request is in conflict. Could you fix it @Devdoot57? |
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| bool update_from_pos(const std::vector<double> & wheels_pos, double dt); | ||
| bool update_from_vel(const std::vector<double> & wheels_vel, double dt); | ||
| bool try_update_open_loop( |
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Suggested change
| bool try_update_open_loop( | |
| bool update_open_loop( |
why the try_ prefix here?
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I don't really remember the reason now, update_open_loop would be better though.
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Description
This PR updates the
omni_wheel_drive_controllerodometry implementation to usedouble dtfor integration instead of relying onrclcpp::Time(matching #1854). It also introduces a comprehensivegtestsuite to verify the holonomic kinematics and integration math (matching #2099).This rolls out the architectural improvements requested in #2039 for the omni-wheel base.
Changes:
updateFromPos,updateFromVel, andupdateOpenLoop. Replaced withupdate_from_pos,update_from_vel, andtry_update_open_loop.test_odometry.cppcovering:dtrejection.