The Odometry class handles odometry readings (2D pose and velocity with related timestamp) More...

#include <odometry.h>

Public Types
typedef boost::function< void(double, double)>	IntegrationFunction
	Integration function, used to integrate the odometry: More...

Public Member Functions
double	getAngular () const
	angular velocity getter More...

double	getHeading () const
	heading getter More...

double	getLinear () const
	linear velocity getter More...

double	getX () const
	x position getter More...

double	getY () const
	y position getter More...

void	init (const ros::Time &time)
	Initialize the odometry. More...

	Odometry (size_t velocity_rolling_window_size=10)
	Constructor Timestamp will get the current time value Value will be set to zero. More...

void	setVelocityRollingWindowSize (size_t velocity_rolling_window_size)
	Velocity rolling window size setter. More...

void	setWheelbase (double wheelbase)

bool	update (const std::vector< ActuatedJoint > &steering_joints, const std::vector< Wheel > &odometry_joints, const ros::Time &time)
	Updates the odometry class with latest wheels position. More...

void	updateOpenLoop (double linear, double angular, const ros::Time &time)
	Updates the odometry class with latest velocity command. More...

Private Types
typedef bacc::accumulator_set< double, bacc::stats< bacc::tag::rolling_mean > >	RollingMeanAcc
	Rolling mean accumulator and window: More...

typedef bacc::tag::rolling_window	RollingWindow

Private Member Functions
void	integrateExact (double linear, double angular)
	Integrates the velocities (linear and angular) using exact method. More...

void	integrateRungeKutta2 (double linear, double angular)
	Integrates the velocities (linear and angular) using 2nd order Runge-Kutta. More...

void	resetAccumulators ()
	Reset linear and angular accumulators. More...

Private Attributes
double	angular_

RollingMeanAcc	angular_acc_

double	heading_

IntegrationFunction	integrate_fun_
	Integration funcion, used to integrate the odometry: More...

double	linear_
	Current velocity: More...

RollingMeanAcc	linear_acc_

ros::Time	timestamp_
	Current timestamp: More...

size_t	velocity_rolling_window_size_
	Rolling mean accumulators for the linar and angular velocities: More...

double	wheelbase_

std::map< std::string, double >	wheels_old_pos_
	Previou wheel position/state [rad]: More...

double	x_
	Current pose: More...

double	y_

Detailed Description

The Odometry class handles odometry readings (2D pose and velocity with related timestamp)

Definition at line 27 of file odometry.h.

Member Typedef Documentation

typedef boost::function<void(double, double)> ackermann_controller::Odometry::IntegrationFunction

Integration function, used to integrate the odometry:

Definition at line 32 of file odometry.h.

typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > ackermann_controller::Odometry::RollingMeanAcc

private

Rolling mean accumulator and window:

Definition at line 125 of file odometry.h.

typedef bacc::tag::rolling_window ackermann_controller::Odometry::RollingWindow

private

Definition at line 126 of file odometry.h.

Constructor & Destructor Documentation

ackermann_controller::Odometry::Odometry ( size_t velocity_rolling_window_size = 10 )

Constructor Timestamp will get the current time value Value will be set to zero.

Parameters

velocity_rolling_window_size Rolling window size used to compute the velocity mean

Definition at line 17 of file odometry.cpp.

Member Function Documentation

double ackermann_controller::Odometry::getAngular ( ) const

inline

angular velocity getter

Returns: angular velocity [rad/s]

Definition at line 106 of file odometry.h.

double ackermann_controller::Odometry::getHeading ( ) const

inline

heading getter

Returns: heading [rad]

Definition at line 70 of file odometry.h.

double ackermann_controller::Odometry::getLinear ( ) const

inline

linear velocity getter

Returns: linear velocity [m/s]

Definition at line 97 of file odometry.h.

double ackermann_controller::Odometry::getX ( ) const

inline

x position getter

Returns: x position [m]

Definition at line 79 of file odometry.h.

double ackermann_controller::Odometry::getY ( ) const

inline

y position getter

Returns: y position [m]

Definition at line 88 of file odometry.h.

void ackermann_controller::Odometry::init ( const ros::Time & time )

Initialize the odometry.

Parameters

time	Current time

Definition at line 32 of file odometry.cpp.

void ackermann_controller::Odometry::integrateExact	(	double	linear,
		double	angular
	)

private

Integrates the velocities (linear and angular) using exact method.

Other possible integration method provided by the class.

Parameters

linear	Linear velocity m computed by encoders
angular	Angular velocity rad computed by encoders
linear	linear speed
angular	angular speed

Exact integration (should solve problems when angular is zero):

Definition at line 132 of file odometry.cpp.

void ackermann_controller::Odometry::integrateRungeKutta2	(	double	linear,
		double	angular
	)

private

Integrates the velocities (linear and angular) using 2nd order Runge-Kutta.

Parameters

linear	Linear velocity m computed by encoders
angular	Angular velocity rad computed by encoders

Runge-Kutta 2nd order integration:

Definition at line 117 of file odometry.cpp.

void ackermann_controller::Odometry::resetAccumulators ( )

private

Reset linear and angular accumulators.

Definition at line 147 of file odometry.cpp.

void ackermann_controller::Odometry::setVelocityRollingWindowSize ( size_t velocity_rolling_window_size )

Velocity rolling window size setter.

Parameters

velocity_rolling_window_size Velocity rolling window size

Definition at line 110 of file odometry.cpp.

void ackermann_controller::Odometry::setWheelbase ( double wheelbase )

inline

Definition at line 111 of file odometry.h.

bool ackermann_controller::Odometry::update	(	const std::vector< ActuatedJoint > &	steering_joints,
		const std::vector< Wheel > &	odometry_joints,
		const ros::Time &	time
	)

Updates the odometry class with latest wheels position.

Parameters

time	Current time

Returns: true if the odometry is actually updated

Integrate odometry:

Estimate speeds using a rolling mean to filter them out:

Definition at line 39 of file odometry.cpp.

void ackermann_controller::Odometry::updateOpenLoop	(	double	linear,
		double	angular,
		const ros::Time &	time
	)

Updates the odometry class with latest velocity command.

Parameters

linear	Linear velocity [m/s]
angular	Angular velocity [rad/s]
time	Current time

Save last linear and angular velocity:

Integrate odometry:

Definition at line 98 of file odometry.cpp.

Member Data Documentation

double ackermann_controller::Odometry::angular_

private

Definition at line 157 of file odometry.h.

RollingMeanAcc ackermann_controller::Odometry::angular_acc_

private

Definition at line 167 of file odometry.h.

double ackermann_controller::Odometry::heading_

private

Definition at line 153 of file odometry.h.

IntegrationFunction ackermann_controller::Odometry::integrate_fun_

private

Integration funcion, used to integrate the odometry:

Definition at line 170 of file odometry.h.

double ackermann_controller::Odometry::linear_

private

Current velocity:

Definition at line 156 of file odometry.h.

RollingMeanAcc ackermann_controller::Odometry::linear_acc_

private

Definition at line 166 of file odometry.h.

ros::Time ackermann_controller::Odometry::timestamp_

private

Current timestamp:

Definition at line 148 of file odometry.h.

size_t ackermann_controller::Odometry::velocity_rolling_window_size_

private

Rolling mean accumulators for the linar and angular velocities:

Definition at line 165 of file odometry.h.

double ackermann_controller::Odometry::wheelbase_

private

Definition at line 159 of file odometry.h.

std::map<std::string, double> ackermann_controller::Odometry::wheels_old_pos_

private

Previou wheel position/state [rad]:

Definition at line 162 of file odometry.h.

double ackermann_controller::Odometry::x_

private

Current pose:

Definition at line 151 of file odometry.h.

double ackermann_controller::Odometry::y_

private

Definition at line 152 of file odometry.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation