Class Odometry

• Defined in File odometry.hpp

Class Documentation

class Odometry

Provides different odometry integration methods.

Public Static Functions

static OdometryState integrate_euler(const OdometryState &state, double dt)

Updates the state using Euler integration.

Parameters:

• state – The current state of the vehicle.

• dt – Time step for integration.

Returns:

Updated state after integration.

static OdometryState integrate_rk2(const OdometryState &state, double dt)

Updates the state using 2nd order Runge-Kutta (RK2) integration.

Parameters:

• state – The current state of the vehicle.

• dt – Time step for integration.

Returns:

Updated state after integration.

static OdometryState integrate_rk4(const OdometryState &state, double dt)

Updates the state using 4th order Runge-Kutta (RK4) integration.

Parameters:

• state – The current state of the vehicle.

• dt – Time step for integration.

Returns:

Updated state after integration.

static OdometryState kalman_filter(const OdometryState &state, double dt)

Estimates the state using a Kalman filter.

Parameters:

• state – The current state of the vehicle.

• dt – Time step for prediction.

Returns:

Estimated state after Kalman filtering.