Fix odometry twist computation#2
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efernandez merged 1 commit intoindigo-develfrom Jun 16, 2015
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The twist is computed as the relative transformation in SE(2) between the previous and current odometry pose, divided by the time step dt.
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Jun 16, 2015
Fix odometry twist computation
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The twist is computed as the relative transformation in SE(2) between
the previous and current odometry pose, divided by the time step
dt.In order to avoid inconsistencies we avoid the exp and log mappings to change the translation part of SE(2), so the result is equivalent to using homogeneous matrices, and is valid later in the classical state function of an EKF like in robot_localization package.
The y component of the twist wrt the integration scheme is:
For RK2 and the Exact integration schemes, the value for y is very small in both cases.