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(); }