matlab/encEstimator.m File Reference

Go to the source code of this file.

Functions
length of	truck (in meters) from back axle to front axle truckLength=0.3048
	truckTheta (1)=0
	steeringAngle (1)=0
	x (1)=0
	y (1)=0
	truckThetaD (1)
	truckThetaD (i)
if	abs (truckVelocity(i)) > 0.000001 steeringAngle(i)
else	steeringAngle (i)
end	truckTheta (i)
	x (i)
	y (i)
Variables
	function [x, y, truckTheta, truckThetaD, steeringAngle, truckVelocity]
	ticksPerMeter = 3951.0979
	metersPerTick = 1 / ticksPerMeter
convert ticks to meters	fr = fr * metersPerTick
	fl = fl * metersPerTick
	br = br * metersPerTick
	bl = bl * metersPerTick
	len = length(fr)
	timeD = [0
time(2:len)-time(	frD ) = [ 0
fr(2:len)-fr(	flD ) = [ 0
fl(2:len)-fl(	brD ) = [ 0
br(2:len)-br(	blD ) = [ 0
bl(2:len)-bl(	truckThetaD )(1)=0
	filterAlpha = 1
for	i

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Function Documentation

if abs (  truckVelocity(i)   )

else steeringAngle (  i   )

steeringAngle (  1   )  [pure virtual]

length of truck (  in  meters  )  [pure virtual]

end truckTheta (  i   )

truckTheta (  1   )  [pure virtual]

truckThetaD (  i   )

truckThetaD (  1   )

x (  i   )

x (  1   )  [pure virtual]

y (  i   )

y (  1   )  [pure virtual]

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Variable Documentation

bl = bl * metersPerTick

Definition at line 18 of file encEstimator.m. Referenced by main().

br (2:len) - br( blD) = [ 0

Definition at line 26 of file encEstimator.m.

br = br * metersPerTick

Definition at line 17 of file encEstimator.m. Referenced by main().

fl (2:len) - fl( brD) = [ 0

Definition at line 25 of file encEstimator.m.

filterAlpha = 1

Definition at line 36 of file encEstimator.m.

fl = fl * metersPerTick

Definition at line 16 of file encEstimator.m. Referenced by main().

fr (2:len) - fr( flD) = [ 0

Definition at line 24 of file encEstimator.m.

convert ticks to meters fr = fr * metersPerTick

Definition at line 15 of file encEstimator.m. Referenced by main().

time (2:len) - time( frD) = [ 0

Definition at line 23 of file encEstimator.m.

function[x, y, truckTheta, truckThetaD, steeringAngle, truckVelocity]

Initial value: encEstimator(time,fr,fl,br,bl) % function [x, y, truckTheta, truckThetaD, steeringAngle] = encEstimator(fr,fl,br,bl) % distance from center of one truck wheel to center of other truck wheel axleLength = 0.37465 Definition at line 1 of file encEstimator.m.

for i

Initial value: [2:len] truckVelocity(i) = (frD(i) + flD(i) + brD(i) + blD(i)) * 0.5 / timeD(i) Definition at line 38 of file encEstimator.m. Referenced by _rt_shm_alloc(), convert_input_buf_to_status(), cpldmcu_init(), escaped(), OverheadVisionClient::findPattern(), handler(), i2c_read(), i2c_send_word(), i2c_write(), Joystick::Joystick(), linux_syscall_server_fun(), main(), mcu_read(), nam2num(), num2nam(), GuiClientFrame::OnCommandEnter(), GuiMapFrame::PaintMe(), GPS::parsePOS(), GPS::parseUTM(), poll(), msg::poll(), print(), read_shared_mem_to_input_buf(), GPS::readLine(), receiver(), recvData(), fhwInterface::reset(), rt_shm_free(), RTAI_PROTO(), TCPmsg::run(), Controller::run(), TCPmsg::select(), signal_suprt_fun(), write_output_buf_to_shared_mem(), and fhwInterface::writeControl().

len = length(fr)

Definition at line 20 of file encEstimator.m. Referenced by Accept_server(), mcu_read(), RTAI_PROTO(), and GPS::writeLine().

metersPerTick = 1 / ticksPerMeter

Definition at line 12 of file encEstimator.m.

ticksPerMeter = 3951.0979

Definition at line 11 of file encEstimator.m.

timeD = [0

Definition at line 22 of file encEstimator.m.

bl (2:len) - bl( truckThetaD)(1)=0

Definition at line 28 of file encEstimator.m.

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