odometry.h
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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_ */


steer_drive_controller
Author(s): CIR-KIT , Masaru Morita
autogenerated on Sat Jun 8 2019 19:20:25