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odometry_calibration

Odometry Calibration Models

Pydantic models for odometry calibration data.

CalibrationResult #

Bases: BaseModel

Result of a calibration computation.

Source code in cogip/models/odometry_calibration.py 
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class CalibrationResult(BaseModel):
    """Result of a calibration computation."""

    wheels_distance: float
    right_wheel_radius: float
    left_wheel_radius: float

CalibrationState #

Bases: BaseModel

State container for calibration intermediate values.

Tracks alpha and beta coefficients computed during calibration phases.

Source code in cogip/models/odometry_calibration.py 
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class CalibrationState(BaseModel):
    """
    State container for calibration intermediate values.

    Tracks alpha and beta coefficients computed during calibration phases.
    """

    alpha_l: float = 0.0
    alpha_r: float = 0.0
    beta: float = 0.0

EncoderDeltas #

Bases: BaseModel

Encoder tick deltas captured during a motion sequence.

Source code in cogip/models/odometry_calibration.py 
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class EncoderDeltas(BaseModel):
    """Encoder tick deltas captured during a motion sequence."""

    left: int
    right: int

OdometryParameters #

Bases: BaseModel

Container for odometry parameters.

Holds all parameters needed for odometry calibration.

Source code in cogip/models/odometry_calibration.py 
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class OdometryParameters(BaseModel):
    """
    Container for odometry parameters.

    Holds all parameters needed for odometry calibration.
    """

    wheels_distance: float = 0.0
    right_wheel_radius: float = 0.0
    left_wheel_radius: float = 0.0
    left_polarity: float = 0.0
    right_polarity: float = 0.0
    encoder_ticks: float = 0.0