Odometry¶

Header: #include <vantage/odometry.hpp>

DifferentialDriveOdometry combines cumulative left/right wheel distance with a continuous gyro heading and integrates the finite SE(2) motion.

Construct¶

vantage::DifferentialDriveOdometry odometry({0.0, 0.0, 0.0});

The optional pose is used as the initial field pose.

vantage::Pose2d pose = odometry.update(
    leftDistance, rightDistance, gyroHeadingRadians);

Pass cumulative distances, not per-tick deltas. The first update establishes the sensor baselines and does not move the pose.

odometry.reset(newPose, leftDistance, rightDistance, gyroHeadingRadians);

Reset preserves the desired field heading by calculating an internal gyro offset. Supply current sensor readings so the next update does not jump.

Note

Wheel distances and pose coordinates can use metres, inches, or another unit, but every distance in the entire controller must use the same unit.