void Odometry::init(double left_pos, double right_pos, const ros::Time& time)
{
// Reset accumulators and timestamp:
resetAccumulators();
timestamp_ = time;
// Wheel positions used for velocity estimation need reset
left_wheel_old_pos_ = left_pos;
right_wheel_old_pos_ = right_pos;
}
void Odometry::init(const ros::Time& time)
{
// Reset accumulators and timestamp:
resetAccumulators();
timestamp_ = time;
}
void Odometry::setVelocityRollingWindowSize(size_t velocity_rolling_window_size)
{
velocity_rolling_window_size_ = velocity_rolling_window_size;
resetAccumulators();
}
