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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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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.

@mlecriva mlecriva linked an issue Nov 13, 2024 that may be closed by this pull request
@mlecriva mlecriva self-assigned this Nov 13, 2024
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
@mlecriva mlecriva force-pushed the 172-motion-control-rework-odometry-class-to-use-new-encoder-interface branch from 3bd1eea to 93d2166 Compare November 13, 2024 19:01
@gdoffe
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gdoffe commented Nov 13, 2024

Few remarks

@mlecriva mlecriva force-pushed the 172-motion-control-rework-odometry-class-to-use-new-encoder-interface branch 2 times, most recently from 8f59079 to 027bdbb Compare November 18, 2024 20:54
@mlecriva mlecriva force-pushed the 172-motion-control-rework-odometry-class-to-use-new-encoder-interface branch 2 times, most recently from cc4406d to 674ac71 Compare December 2, 2024 20:39
/// - 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 :)

@gdoffe
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gdoffe commented Dec 2, 2024

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.
@mlecriva mlecriva force-pushed the 172-motion-control-rework-odometry-class-to-use-new-encoder-interface branch from 674ac71 to 41c7e24 Compare December 3, 2024 08:09
@mlecriva mlecriva merged commit 570c20d into master Dec 3, 2024
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@mlecriva mlecriva deleted the 172-motion-control-rework-odometry-class-to-use-new-encoder-interface branch December 5, 2024 11:29
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Motion control - Rework odometry class to use new encoder interface
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