#include <commands_3dm.h>
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| mip_function_selector | function |
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| mip_3dm_odometer_command_mode | mode |
| | Mode setting. More...
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| float | scaling |
| | Encoder pulses per meter of distance traveled [pulses/m]. Distance traveled is computed using the formula d = p / N * 2R * pi, where d is distance, p is the number of pulses received, N is the encoder resolution, and R is the wheel radius. By simplifying all of the parameters into one, the formula d = p / S is obtained, where s is the odometer scaling factor passed to this command. S is equivalent to N / (2R * pi) and has units of pulses / meter. N is in units of "A" pulses per revolution and R is in meters. Make this value negative if the odometer is mounted so that it rotates backwards. More...
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| float | uncertainty |
| | Uncertainty in encoder counts to distance translation (1-sigma value) [m/m]. More...
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◆ function
◆ mode
◆ scaling
| float mip::C::mip_3dm_odometer_command::scaling |
◆ uncertainty
| float mip::C::mip_3dm_odometer_command::uncertainty |
The documentation for this struct was generated from the following file:
