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172 motion control rework odometry class to use new encoder interface #175
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mlecriva
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172 motion control rework odometry class to use new encoder interface #175
mlecriva
merged 2 commits into
master
from
172-motion-control-rework-odometry-class-to-use-new-encoder-interface
Dec 3, 2024
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Replace while loop by a periodic modulo in order to limit angles. This use a little more resources to compute but avoid the usage of blocking loop inside limit functions
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Few remarks |
gdoffe
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gdoffe
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Dec 2, 2024
/// - linear: mm | ||
/// - O: deg | ||
/// @return velocity cogip::cogip_defs::Polar current polar pose delta reference | ||
virtual const cogip::cogip_defs::Polar& polar() = 0; |
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s/polar/delta_polar_pose ?
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Ok for me, Fixed :)
Just one variable to rename. I already approve, fix and merge. |
Create a class that use encoder objects to compute odometry. This library only support approximation by segment. Add -ng suffix in order to keep last odometry lib until the refactoring job is done.
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Improve trigonometry library by replacing while loops by a periodic modulo in order to limit angles.
This use a little more resources to compute but avoid the usage of blocking loop inside limit functions.
Create a class that use encoder objects to compute odometry.
This library only support approximation by segment.
Add -ng suffix in order to keep last odometry lib until the refactoring job is done.