hololib::DistanceReset Class Reference

Handles resetting the robot's odometry using distance sensors. More...

#include <distanceReset.hpp>

Public Member Functions
	DistanceReset (const std::vector< DistanceSensor > &robot_sensors, EncoderEKFOdometry &odom=::odom, float heading_tolerance=40.0, float filter_range=3.5)
	Construct a DistanceReset handler.
distancePose	update (bool setPose=false, bool filter=true)
	Updates position using all configured sensors.
distancePose	update (const std::vector< bool > &use_flags, bool setPose=false, bool filter=true)
	Updates position using a specific set of sensors by flags.
distancePose	updateSpecific (const std::vector< DistanceSensor > &active_sensors, bool setPose, bool filter)
	Updates position using an explicitly provided list of active sensors.

Detailed Description

Handles resetting the robot's odometry using distance sensors.

It calculates the absolute position on the field using distance to walls.

Definition at line 33 of file distanceReset.hpp.

Constructor & Destructor Documentation

DistanceReset()

hololib::DistanceReset::DistanceReset	(	const std::vector< DistanceSensor > &	robot_sensors,
		EncoderEKFOdometry &	odom = ::odom,
		float	heading_tolerance = 40.0,
		float	filter_range = 3.5
	)

Construct a DistanceReset handler.

Parameters

robot_sensors	Vector of DistanceSensor configurations.
odom	Reference to the encoder EKF odometry object.
heading_tolerance	Tolerance in degrees for the sensor to be considered perpendicular to the wall.
filter_range	Maximum acceptable deviation from the current odometry reading.

Member Function Documentation

update() [1/2]

distancePose hololib::DistanceReset::update	(	bool	setPose = false,
		bool	filter = true
	)

Updates position using all configured sensors.

Parameters

setPose	If true, automatically updates the chassis odometry with the calculated position.
filter	If true, applies filtering based on filter_range.

Returns

distancePose The newly calculated position.

update() [2/2]

distancePose hololib::DistanceReset::update	(	const std::vector< bool > &	use_flags,
		bool	setPose = false,
		bool	filter = true
	)

Updates position using a specific set of sensors by flags.

Parameters

use_flags	Boolean flags corresponding to each configured sensor (true to use).
setPose	If true, automatically updates the chassis odometry.
filter	If true, applies filtering.

Returns

distancePose The newly calculated position.

updateSpecific()

distancePose hololib::DistanceReset::updateSpecific	(	const std::vector< DistanceSensor > &	active_sensors,
		bool	setPose,
		bool	filter
	)

Updates position using an explicitly provided list of active sensors.

Parameters

active_sensors	Vector of sensors to use for this update.
setPose	If true, automatically updates the chassis odometry.
filter	If true, applies filtering.

Returns

distancePose The newly calculated position.