Odometry

#include "navground/sim/state_estimations/sensor_odometry.h"

struct OdometryStateEstimation : public navground::sim::Sensor

A sensor that add normal error to the true twist and integrates it.

Registered properties:

• longitudinal_speed_std_dev (float, get_longitudinal_speed_std_dev)

• longitudinal_speed_bias (float, get_longitudinal_speed_bias)

• transversal_speed_std_dev (float, get_transversal_speed_std_dev)

• transversal_speed_bias (float, get_transversal_speed_bias)

• angular_speed_std_dev (float, get_angular_speed_std_dev)

• angular_speed_bias (float, get_angular_speed_bias)

• update_ego_state (bool, get_update_ego_state)

• update_sensig_state (bool, get_update_sensing_state)

Public Functions

inline explicit OdometryStateEstimation(ng_float_t longitudinal_speed_bias = 0, ng_float_t longitudinal_speed_std_dev = default_longitudinal_speed_std_dev, ng_float_t transversal_speed_bias = 0, ng_float_t transversal_speed_std_dev = default_transversal_speed_std_dev, ng_float_t angular_speed_bias = 0, ng_float_t angular_speed_std_dev = default_angular_speed_std_dev, bool update_sensing_state = true, bool update_ego_state = false, const std::string &name = "")

Constructs a new instance.

Parameters:

• longitudinal_speed_bias – [in] The longitudinal speed bias

• longitudinal_speed_std_dev – [in] The longitudinal speed standard deviation

• transversal_speed_bias – [in] The longitudinal speed bias

• transversal_speed_std_dev – [in] The transversal speed standard deviation

• angular_speed_bias – [in] The longitudinal speed bias

• angular_speed_std_dev – [in] The angular speed standard deviation

• update_sensing_state – [in] Whether to update the behavior environment state

• update_ego_state – [in] Whether to update the behavior ego state

• name – [in] The name to use as a prefix

inline void set_longitudinal_speed_bias(ng_float_t value)

Sets the longitudinal speed relative bias.

Parameters:

value – [in] The desired value

inline void set_longitudinal_speed_std_dev(ng_float_t value)

Sets the longitudinal speed relative standard deviation.

Parameters:

value – [in] The desired (positive) value

inline ng_float_t get_longitudinal_speed_bias() const

Gets the longitudinal speed relative bias. rangings.

Returns:

The bias.

inline ng_float_t get_longitudinal_speed_std_dev() const

Gets the longitudinal speed relative standard deviation. rangings.

Returns:

The standard deviation.

inline void set_transversal_speed_bias(ng_float_t value)

Sets the transversal speed relative bias.

Parameters:

value – [in] The desired value

inline void set_transversal_speed_std_dev(ng_float_t value)

Sets the transversal speed relative standard deviation.

Parameters:

value – [in] The desired (positive) value

inline ng_float_t get_transversal_speed_bias() const

Gets the transversal speed relative bias. rangings.

Returns:

The bias.

inline ng_float_t get_transversal_speed_std_dev() const

Gets the transversal speed relative standard deviation. rangings.

Returns:

The standard deviation.

inline void set_angular_speed_bias(ng_float_t value)

Sets the angular speed relative bias.

Parameters:

value – [in] The desired value

inline void set_angular_speed_std_dev(ng_float_t value)

Sets the angular speed relative standard deviation.

Parameters:

value – [in] The desired (positive) value

inline ng_float_t get_angular_speed_bias() const

Gets the angular speed relative bias. rangings.

Returns:

The bias.

inline ng_float_t get_angular_speed_std_dev() const

Gets the angular speed relative standard deviation. rangings.

Returns:

The standard deviation.

inline bool get_update_sensing_state() const

Gets whether to update the behavior environment state.

Returns:

True if it updates the behavior environment state.

inline void set_update_sensing_state(bool value)

Sets whether to update the behavior environment state.

Parameters:

value – [in] The desired value

inline bool get_update_ego_state() const

Gets whether to update the behavior ego state.

Returns:

True if it updates the behavior ego state.

inline void set_update_ego_state(bool value)

Sets whether to update the behavior ego state.

Parameters:

value – [in] The desired value

void update_odom(Agent *agent, World *world)

Runs an update.

Like update but without writing a core::SensingState.

Parameters:

• agent – The agent

• world – The world

inline std::optional<core::Pose2> read_pose(core::SensingState &state) const

Reads an (odometry) pose from a core::SensingState.

Calls read_pose_with_name, passing Sensor::get_name.

Parameters:

state – The state

Returns:

A pose or null if none was found.

inline Pose2 get_pose() const

Gets the current pose.

Returns:

The pose.

inline Twist2 get_twist() const

Gets the current twist.

Returns:

The twist.

Public Static Functions

static std::optional<core::Pose2> read_pose_with_name(core::SensingState &state, const std::string &name)

Reads an (odometry) pose from a core::SensingState.

Parameters:

• state – The state

• name – [in] The namespace of the odometry

Returns:

A pose or null if none was found.

Public Static Attributes

static const ng_float_t default_longitudinal_speed_std_dev = 0

The default longitudinal speed standard deviation.

static const ng_float_t default_transversal_speed_std_dev = 0

The default transversal speed standard deviation.

static const ng_float_t default_angular_speed_std_dev = 0

The default angular speed standard deviation.