odometry.cpp

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/*
 * Author: Luca Marchionni
 * Author: Bence Magyar
 * Author: Enrique Fernández
 * Author: Paul Mathieu
 */

#include <mecanum_drive_controller/odometry.h>

#include <tf/transform_datatypes.h>

#include <boost/bind.hpp>

namespace mecanum_drive_controller
{

namespace bacc = boost::accumulators;

Odometry::Odometry(size_t velocity_rolling_window_size)
: timestamp_(0.0)
, x_(0.0)
, y_(0.0)
, heading_(0.0)
, linearX_(0.0)
, linearY_(0.0)
, angular_(0.0)
, wheels_k_(0.0)
, wheels_radius_(0.0)
, velocity_rolling_window_size_(velocity_rolling_window_size)
, linearX_acc_(RollingWindow::window_size = velocity_rolling_window_size)
, linearY_acc_(RollingWindow::window_size = velocity_rolling_window_size)
, angular_acc_(RollingWindow::window_size = velocity_rolling_window_size)
, integrate_fun_(boost::bind(&Odometry::integrateExact, this, _1, _2, _3))
{
}

void Odometry::init(const ros::Time& time)
{
  // Reset accumulators:
  linearX_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_);
  linearY_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_);
  angular_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_);

  // Reset timestamp:
  timestamp_ = time;
}

bool Odometry::update(double wheel0_vel, double wheel1_vel, double wheel2_vel, double wheel3_vel, const ros::Time &time)
{
  const double dt = (time - timestamp_).toSec();
  if (dt < 0.0001)
    return false; // Interval too small to integrate with

  timestamp_ = time;

  linearX_ = 0.25 * wheels_radius_              * ( wheel0_vel + wheel1_vel + wheel2_vel + wheel3_vel);
  linearY_ = 0.25 * wheels_radius_              * (-wheel0_vel + wheel1_vel - wheel2_vel + wheel3_vel);
  angular_ = 0.25 * wheels_radius_  / wheels_k_ * (-wheel0_vel - wheel1_vel + wheel2_vel + wheel3_vel);

  integrate_fun_(linearX_ * dt, linearY_ * dt, angular_ * dt);

  return true;
}

void Odometry::updateOpenLoop(double linearX, double linearY, double angular, const ros::Time &time)
{
  linearX_ = linearX;
  linearY_ = linearY;
  angular_ = angular;

  const double dt = (time - timestamp_).toSec();
  timestamp_ = time;
  integrate_fun_(linearX * dt, linearY * dt, angular * dt);
}

void Odometry::setWheelsParams(double wheels_k, double wheels_radius)
{
  wheels_k_ = wheels_k;

  wheels_radius_ = wheels_radius;
}

void Odometry::integrateExact(double linearX, double linearY, double angular)
{
  heading_ += angular;

  tf::Matrix3x3 R_m_odom = tf::Matrix3x3(tf::createQuaternionFromYaw(heading_));
  tf::Vector3 vel_inOdom = R_m_odom * tf::Vector3(linearX, linearY, 0.0);

  x_ += vel_inOdom.x();
  y_ += vel_inOdom.y();
}

} // namespace mecanum_drive_controller