Classes
struct	DistanceFromOrigin
	Distance measurements from the origin (set by last reset). More...
struct	IOdometry

Enumerations
enum class	OdometrySource { Internal , CalibrationBoard }
	Which sensor source currently backs the primary pose estimate. More...

Functions
double	wrapAngle (double angle_rad)
double	angularError (double current_rad, double target_rad)
double	extractHeading (const Eigen::Quaternionf &orientation)

Enumeration Type Documentation

◆ OdometrySource

strong

Which sensor source currently backs the primary pose estimate.

The wombat platform can fuse an external calibration board (optical-flow

IMU), which is far more accurate than the cheap on-board dead reckoning. It only backs the primary pose when explicitly requested via setPreferredSource(CalibrationBoard) AND the board is connected; otherwise the internal estimate stays active. The internal estimate is always available through the getInternal*() accessors, and any source can be read passively via getPoseFromSource() — so the internal model can be tuned against the external reference without re-routing the motion system.

Enumerator
Internal	Cheap on-board dead reckoning (STM32 wheel odometry / sim).
CalibrationBoard	External calibration board (optical-flow + IMU fusion).

Definition at line 48 of file odometry.hpp.

double libstp::odometry::angularError	(	double	current_rad,
		double	target_rad )

inline

Definition at line 17 of file angle_utils.hpp.

double libstp::odometry::extractHeading ( const Eigen::Quaternionf & orientation )

inline

Definition at line 21 of file angle_utils.hpp.

double libstp::odometry::wrapAngle ( double angle_rad )

inline

Definition at line 9 of file angle_utils.hpp.