Tracks a robot's pose by adding up its motion.
Creates an estimate starting at start, or at the origin facing along x.
start
Optional
The pose so far.
Nudges the heading toward an absolute measurement by weight, from 0 to 1.
weight
Adds a forward speed and yaw rate held for dt, and returns the new pose.
dt
Adds the distances two wheels rolled, through a differential drive, and returns the new pose.
Sets the estimate to a known pose.
Tracks a robot's pose by adding up its motion.