Odometry position approximation: exact integration / rungeKutta2 integration / rungeKutta4 integration?

[engeen-nl]

Line 150 of odometry.cpp gives the comment: /// Exact integration (should solve problems when angular is zero): However, it is executed when !(fabs(angular) < 1e-6) as it is in the else clause. Is this supposed to be the other way around? Or is the comment wrong? And maybe this discussion is better another place, but when I see the RungeKutta2 function, I'm not much of a Mathematician, but it looks a lot different from what I can find online about RungeKutta2. Is this a work in progress? And maybe we can implement RungeKutta4 instead for higher accuracy over longer distances? I understand with a high sample rate this shouldn't have much effect, but when driving fast / sampling little it will. Background information: As I'm looking for ways to convert recorded motor controller positions to XY location, in order to visualise this, I try to see how ROS handles this.