Dynamixel/include/Dynamixel/DynaServo.h
int OdometerToEncoder(int nOdPos)
  {
    return imod(m_state.m_od.m_nEncZeroPt + nOdPos * m_state.m_od.m_nOdDir,
                m_spec.m_uRawPosModulo);
  }
/*!
   * \brief Convert virtual odometer units to servo encoder units.
   *
   * \param nOdPos  Odometer position.
   *
   * \return Encoder ticks.
   */
\brief Convert virtual odometer units to servo encoder units.
\param nOdPos  Odometer position.

\return Encoder ticks.
\ brief Convert virtual odometer units to servo encoder units . \ param nOdPos Odometer position . \ return Encoder ticks .
int OdometerToEncoder(int nOdPos)
  {
    return imod(m_state.m_od.m_nEncZeroPt + nOdPos * m_state.m_od.m_nOdDir,
                m_spec.m_uRawPosModulo);
  }
int OdometerToEncoder ( int nOdPos ) { return imod ( m_state . m_od . m_nEncZeroPt + nOdPos * m_state . m_od . m_nOdDir , m_spec . m_uRawPosModulo ) ; }
\brief Convert virtual odometer units to servo encoder units.
\ brief Convert virtual odometer units to servo encoder units .