Currently we use Vector2D for all our odometry calculations, which can only hold 2 degrees of freedom (X,Y or Dir,Mag). A lot of odometry math requires 3 degrees of freedom, in the form of X, Y, and Direction. The industry standard name for this is Pose.
Requirements:
[x] Extend Vector2D class for mathematical functions
[x] Create pose2d_t to hold X, Y and Direction
[x] Replace Odometry's position_t
[x] Add easy conversion to point_t
[x] Move mathematical functions from Odometry -> Pose2D
[x] Format a string for debug purposes - provided by to_string()
Currently we use Vector2D for all our odometry calculations, which can only hold 2 degrees of freedom (X,Y or Dir,Mag). A lot of odometry math requires 3 degrees of freedom, in the form of X, Y, and Direction. The industry standard name for this is Pose.
Requirements:
[x] Extend Vector2D class for mathematical functions
[x] Create pose2d_t to hold X, Y and Direction
[x] Move mathematical functions from Odometry -> Pose2D
[x] Format a string for debug purposes - provided by to_string()
[ ] Sync with Core