odometry.cpp

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

#include <ackermann_steering_controller/odometry.h>

#include <boost/bind.hpp>

namespace ackermann_steering_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)
  , linear_(0.0)
  , angular_(0.0)
  , wheel_separation_h_(0.0)
  , wheel_radius_(0.0)
  , rear_wheel_old_pos_(0.0)
  , velocity_rolling_window_size_(velocity_rolling_window_size)
  , linear_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))
  {
  }

  void Odometry::init(const ros::Time& time)
  {
    // Reset accumulators and timestamp:
    resetAccumulators();
    timestamp_ = time;
  }

  bool Odometry::update(double rear_wheel_pos, double front_steer_pos, const ros::Time &time)
  {
    const double rear_wheel_cur_pos = rear_wheel_pos * wheel_radius_;

    //const double left_wheel_est_vel  = left_wheel_cur_pos  - left_wheel_old_pos_;
    //const double right_wheel_est_vel = right_wheel_cur_pos - right_wheel_old_pos_;

    const double rear_wheel_est_vel = rear_wheel_cur_pos - rear_wheel_old_pos_;

    rear_wheel_old_pos_ = rear_wheel_cur_pos;

    const double linear  = rear_wheel_est_vel;//(right_wheel_est_vel + left_wheel_est_vel) * 0.5;
    //const double angular = (right_wheel_est_vel - left_wheel_est_vel) / wheel_separation_w_;
    const double angular = tan(front_steer_pos) * linear / wheel_separation_h_;

    integrate_fun_(linear, angular);

    const double dt = (time - timestamp_).toSec();
    if (dt < 0.0001)
      return false; // Interval too small to integrate with

    timestamp_ = time;

    linear_acc_(linear/dt);
    angular_acc_(angular/dt);

    linear_ = bacc::rolling_mean(linear_acc_);
    angular_ = bacc::rolling_mean(angular_acc_);

    return true;
  }

  void Odometry::updateOpenLoop(double linear, double angular, const ros::Time &time)
  {
    linear_ = linear;
    angular_ = angular;

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

  void Odometry::setWheelParams(double wheel_separation_h, double wheel_radius)
  {
    wheel_separation_h_ = wheel_separation_h;
    wheel_radius_     = wheel_radius;
  }

  void Odometry::setVelocityRollingWindowSize(size_t velocity_rolling_window_size)
  {
    velocity_rolling_window_size_ = velocity_rolling_window_size;

    resetAccumulators();
  }

  void Odometry::integrateRungeKutta2(double linear, double angular)
  {
    const double direction = heading_ + angular * 0.5;

    x_       += linear * cos(direction);
    y_       += linear * sin(direction);
    heading_ += angular;
  }

  void Odometry::integrateExact(double linear, double angular)
  {
    if (fabs(angular) < 1e-6)
      integrateRungeKutta2(linear, angular);
    else
    {
      const double heading_old = heading_;
      const double r = linear/angular;
      heading_ += angular;
      x_       +=  r * (sin(heading_) - sin(heading_old));
      y_       += -r * (cos(heading_) - cos(heading_old));
    }
  }

  void Odometry::resetAccumulators()
  {
    linear_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_);
    angular_acc_ = RollingMeanAcc(RollingWindow::window_size = velocity_rolling_window_size_);
  }

} // namespace diff_drive_controller