Adding odometry simulator

[threewisemonkeys-as]

A class for an odometry simulator would be very useful for testing controllers. SInce our courrent controllers output a velocity, the simulator would take the velocity command at each step and numerically integrate (basically add) it to get distance travelled.

Now to simulate real life conditions, instead of giving back the position derived directly by integrating (the true position) the class will add gaussian noise (using np.random.randn) to it and then return it back to controller. The simulator would be added in /utils

Basic structure would be

class Simulator
    def __init__(controller)
        ...
    def run(parameters)
        ...