libstp::sim::SimWorld::OdometryDrift Struct Reference

#include <SimWorld.hpp>

Public Attributes
float	vxBias {1.0f}
float	vyBias {1.0f}
float	yawBias {1.0f}

Detailed Description

Per-axis multiplicative drift on the dead-reckoned odometry ONLY (the physical pose() is untouched). A bias < 1 makes odometry UNDER-report that axis, so a controller that closes its loop on odometry physically OVER-travels; > 1 over-reports / under-travels. This is the sim model of accumulated odometry error: the controller believes the (biased) odometry while the ground-truth pose() diverges. A separate absolute reference (e.g. localization landmark observe()) is what corrects it. SIM-ONLY — defaults to 1/1/1 (no drift) so existing scenarios are unchanged.

Definition at line 156 of file SimWorld.hpp.

Member Data Documentation

vxBias

float libstp::sim::SimWorld::OdometryDrift::vxBias {1.0f}

Definition at line 158 of file SimWorld.hpp.

vyBias

float libstp::sim::SimWorld::OdometryDrift::vyBias {1.0f}

Definition at line 159 of file SimWorld.hpp.

yawBias

float libstp::sim::SimWorld::OdometryDrift::yawBias {1.0f}

Definition at line 160 of file SimWorld.hpp.

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The documentation for this struct was generated from the following file:

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-sim/include/libstp/sim/SimWorld.hpp