00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, PAL Robotics, S.L. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the PAL Robotics nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* 00036 * Author: Luca Marchionni 00037 * Author: Bence Magyar 00038 * Author: Enrique Fernández 00039 * Author: Paul Mathieu 00040 */ 00041 00042 #ifndef ODOMETRY_H_ 00043 #define ODOMETRY_H_ 00044 00045 #include <ros/time.h> 00046 #include <boost/accumulators/accumulators.hpp> 00047 #include <boost/accumulators/statistics/stats.hpp> 00048 #include <boost/accumulators/statistics/rolling_mean.hpp> 00049 #include <boost/function.hpp> 00050 00051 namespace steer_drive_controller 00052 { 00053 namespace bacc = boost::accumulators; 00054 00059 class Odometry 00060 { 00061 public: 00062 00064 typedef boost::function<void(double, double)> IntegrationFunction; 00065 00072 Odometry(size_t velocity_rolling_window_size = 10); 00073 00078 void init(const ros::Time &time); 00079 00087 bool update(double rear_wheel_pos, double front_steer_pos, const ros::Time &time); 00088 00095 void updateOpenLoop(double linear, double angular, const ros::Time &time); 00096 00101 double getHeading() const 00102 { 00103 return heading_; 00104 } 00105 00110 double getX() const 00111 { 00112 return x_; 00113 } 00114 00119 double getY() const 00120 { 00121 return y_; 00122 } 00123 00128 double getLinear() const 00129 { 00130 return linear_; 00131 } 00132 00137 double getAngular() const 00138 { 00139 return angular_; 00140 } 00141 00147 void setWheelParams(double wheel_reparation_h, double wheel_radius); 00148 00153 void setVelocityRollingWindowSize(size_t velocity_rolling_window_size); 00154 00155 private: 00156 00158 typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > RollingMeanAcc; 00159 typedef bacc::tag::rolling_window RollingWindow; 00160 00166 void integrateRungeKutta2(double linear, double angular); 00167 00173 void integrateExact(double linear, double angular); 00174 00178 void resetAccumulators(); 00179 00181 ros::Time timestamp_; 00182 00184 double x_; // [m] 00185 double y_; // [m] 00186 double heading_; // [rad] 00187 00189 double linear_; // [m/s] 00190 double angular_; // [rad/s] 00191 00193 double wheel_separation_h_; 00194 double wheel_radius_; 00195 00197 double rear_wheel_old_pos_; 00198 00200 size_t velocity_rolling_window_size_; 00201 RollingMeanAcc linear_acc_; 00202 RollingMeanAcc angular_acc_; 00203 00205 IntegrationFunction integrate_fun_; 00206 }; 00207 } 00208 00209 #endif /* ODOMETRY_H_ */