Odometry

A sensor that simulates the self-pose tracking done by integrating odometry measurements. Updates fields “pose” and “twist” with the estimation computed in a coordinate frame located at the agent’s initial pose.

Example

The video has been recorded in the Sensors notebook with the following configuration

steps: 1000
time_step: 0.1
record_pose: true
scenario:
  groups:
    - type: thymio
      color: darkcyan
      number: 1
      radius: 0.25
      orientation: 0
      speed_tolerance: 0.1
      kinematics:
        type: 2WDiff
        max_speed: 1.0
        wheel_axis: 0.5
      behavior:
        type: Dummy
        optimal_speed: 0.5
      task:
        type: Waypoints
        waypoints: [[3, 0], [3, 3], [0, 3], [0, 0]]
        loop: false
        tolerance: 0.1
      state_estimation:
        type: Odometry
        angular_speed_bias: 0.1
        angular_speed_std_dev: 0.2
        longitudinal_speed_bias: -0.2
        longitudinal_speed_std_dev: 0.2
        transversal_speed_bias: 0
        transversal_speed_std_dev: 0.05
        update_ego_state: true
        update_sensing_state: false