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Movement Analysis

Craig McDonald requested to merge feature/movement-analysis into devel

Description

Created a new class called MovementAnalysis, and moved tool odometry to here from RobotController. No major changes to function here, just re-organizing. I am anticipating we will want to calculate other sorts of statistics from the tool position trajectory in the future, and it will go in MovementAnalysis.

Also fixed issue with tool odometry not picking up very slow movement by updating tool odometry at a lower sampling rate.

What to focus on

  • Run the EndpointOdometryTest and verify that it still works. See if you can move so slowly that the odometry value doesn't change.

Resources

Issues

What issues does this fix?

  • Fixes #234

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