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	getFrontSteerVel () const
	front steering velocity getter More...

double	getHeading () const
	heading getter More...

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

double	getLinearAcceleration () const
	linear acceleration getter More...

double	getLinearJerk () const
	linear jerk getter More...

double	getLinearX () const
	linear velocity getter along X on the robot base link frame More...

double	getLinearY () const
	linear velocity getter along Y on the robot base link frame More...

double	getRearSteerVel () const
	rear steering 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	setWheelParams (double steering_track, double wheel_steering_y_offset, double wheel_radius, double wheel_base)
	Sets the wheel parameters: radius and separation. More...

bool	update (const double &fl_speed, const double &fr_speed, const double &rl_speed, const double &rr_speed, double front_steering, double rear_steering, const ros::Time &time)
	Updates the odometry class with latest wheels and steerings position. 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	integrateXY (double linear_x, double linear_y, double angular)
	Integrates the velocities (linear on x and y and angular) More...

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

Private Attributes
double	angular_

RollingMeanAcc	front_steer_vel_acc_

double	front_steer_vel_prev_

double	heading_

ros::Time	last_update_timestamp_
	Current timestamp: More...

double	linear_
	Current velocity: More...

RollingMeanAcc	linear_accel_acc_

double	linear_accel_prev_

RollingMeanAcc	linear_jerk_acc_

double	linear_vel_prev_

double	linear_x_

double	linear_y_

RollingMeanAcc	rear_steer_vel_acc_

double	rear_steer_vel_prev_

double	steering_track_
	Wheel kinematic parameters [m]: More...

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

double	wheel_base_

double	wheel_old_pos_
	Previous wheel position/state [rad]: More...

double	wheel_radius_

double	wheel_steering_y_offset_

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 52 of file odometry.h.

Member Typedef Documentation

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

Integration function, used to integrate the odometry:

Definition at line 57 of file odometry.h.

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

private

Rolling mean accumulator and window:

Definition at line 205 of file odometry.h.

typedef bacc::tag::rolling_window four_wheel_steering_controller::Odometry::RollingWindow

private

Definition at line 206 of file odometry.h.

Constructor & Destructor Documentation

four_wheel_steering_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 43 of file odometry.cpp.

Member Function Documentation

double four_wheel_steering_controller::Odometry::getAngular ( ) const

inline

angular velocity getter

Returns: angular velocity [rad/s]

Definition at line 146 of file odometry.h.

double four_wheel_steering_controller::Odometry::getFrontSteerVel ( ) const

inline

front steering velocity getter

Returns: front_steer_vel [m/s³]

Definition at line 173 of file odometry.h.

double four_wheel_steering_controller::Odometry::getHeading ( ) const

inline

heading getter

Returns: heading [rad]

Definition at line 91 of file odometry.h.

double four_wheel_steering_controller::Odometry::getLinear ( ) const

inline

linear velocity getter norm

Returns: linear velocity [m/s]

Definition at line 119 of file odometry.h.

double four_wheel_steering_controller::Odometry::getLinearAcceleration ( ) const

inline

linear acceleration getter

Returns: linear acceleration [m/s²]

Definition at line 155 of file odometry.h.

double four_wheel_steering_controller::Odometry::getLinearJerk ( ) const

inline

linear jerk getter

Returns: linear jerk [m/s³]

Definition at line 164 of file odometry.h.

double four_wheel_steering_controller::Odometry::getLinearX ( ) const

inline

linear velocity getter along X on the robot base link frame

Returns: linear velocity [m/s]

Definition at line 128 of file odometry.h.

double four_wheel_steering_controller::Odometry::getLinearY ( ) const

inline

linear velocity getter along Y on the robot base link frame

Returns: linear velocity [m/s]

Definition at line 137 of file odometry.h.

double four_wheel_steering_controller::Odometry::getRearSteerVel ( ) const

inline

rear steering velocity getter

Returns: rear_steer_vel [m/s³]

Definition at line 182 of file odometry.h.

double four_wheel_steering_controller::Odometry::getX ( ) const

inline

x position getter

Returns: x position [m]

Definition at line 100 of file odometry.h.

double four_wheel_steering_controller::Odometry::getY ( ) const

inline

y position getter

Returns: y position [m]

Definition at line 109 of file odometry.h.

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

Initialize the odometry.

Parameters

time	Current time

Definition at line 65 of file odometry.cpp.

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

private

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

Parameters

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

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

Definition at line 158 of file odometry.cpp.

void four_wheel_steering_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 148 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::integrateXY	(	double	linear_x,
		double	linear_y,
		double	angular
	)

private

Integrates the velocities (linear on x and y and angular)

Parameters

linear_x	Linear velocity along x of the robot frame m computed by encoders
linear_y	Linear velocity along y of the robot frame m computed by encoders
angular	Angular velocity rad computed by encoders

Definition at line 138 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::resetAccumulators ( )

private

Reset linear and angular accumulators.

Definition at line 173 of file odometry.cpp.

void four_wheel_steering_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 131 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::setWheelParams	(	double	steering_track,
		double	wheel_steering_y_offset,
		double	wheel_radius,
		double	wheel_base
	)

Sets the wheel parameters: radius and separation.

Parameters

steering_track	Seperation between left and right steering joints [m]
wheel_steering_y_offset	Offest between the steering and wheel joints [m]
wheel_radius	Wheel radius [m]
wheel_base	Wheel base [m]

Definition at line 123 of file odometry.cpp.

bool four_wheel_steering_controller::Odometry::update	(	const double &	fl_speed,
		const double &	fr_speed,
		const double &	rl_speed,
		const double &	rr_speed,
		double	front_steering,
		double	rear_steering,
		const ros::Time &	time
	)

Updates the odometry class with latest wheels and steerings position.

Parameters

fl_speed	front left wheel vehicle speed [rad/s]
fr_speed	front right wheel vehicle speed [rad/s]
rl_speed	rear left wheel vehicle speed [rad/s]
rr_speed	rear right wheel vehicle speed [rad/s]
front_steering	steering position [rad]
rear_steering	steering position [rad]
time	Current time

Returns: true if the odometry is actually updated

Compute x, y and heading using velocity

Integrate odometry:

Definition at line 72 of file odometry.cpp.

Member Data Documentation

double four_wheel_steering_controller::Odometry::angular_

private

Definition at line 245 of file odometry.h.

RollingMeanAcc four_wheel_steering_controller::Odometry::front_steer_vel_acc_

private

Definition at line 260 of file odometry.h.

double four_wheel_steering_controller::Odometry::front_steer_vel_prev_

private

Definition at line 263 of file odometry.h.

double four_wheel_steering_controller::Odometry::heading_

private

Definition at line 241 of file odometry.h.

ros::Time four_wheel_steering_controller::Odometry::last_update_timestamp_

private

Current timestamp:

Definition at line 236 of file odometry.h.

double four_wheel_steering_controller::Odometry::linear_

private

Current velocity:

Definition at line 244 of file odometry.h.

RollingMeanAcc four_wheel_steering_controller::Odometry::linear_accel_acc_

private

Definition at line 258 of file odometry.h.

double four_wheel_steering_controller::Odometry::linear_accel_prev_

private

Definition at line 262 of file odometry.h.

RollingMeanAcc four_wheel_steering_controller::Odometry::linear_jerk_acc_

private

Definition at line 259 of file odometry.h.

double four_wheel_steering_controller::Odometry::linear_vel_prev_

private

Definition at line 262 of file odometry.h.

double four_wheel_steering_controller::Odometry::linear_x_

private

Definition at line 244 of file odometry.h.

double four_wheel_steering_controller::Odometry::linear_y_

private

Definition at line 244 of file odometry.h.

RollingMeanAcc four_wheel_steering_controller::Odometry::rear_steer_vel_acc_

private

Definition at line 261 of file odometry.h.

double four_wheel_steering_controller::Odometry::rear_steer_vel_prev_

private

Definition at line 263 of file odometry.h.

double four_wheel_steering_controller::Odometry::steering_track_

private

Wheel kinematic parameters [m]:

Definition at line 248 of file odometry.h.

size_t four_wheel_steering_controller::Odometry::velocity_rolling_window_size_

private

Rolling mean accumulators for the linar and angular velocities:

Definition at line 257 of file odometry.h.

double four_wheel_steering_controller::Odometry::wheel_base_

private

Definition at line 251 of file odometry.h.

double four_wheel_steering_controller::Odometry::wheel_old_pos_

private

Previous wheel position/state [rad]:

Definition at line 254 of file odometry.h.

double four_wheel_steering_controller::Odometry::wheel_radius_

private

Definition at line 250 of file odometry.h.

double four_wheel_steering_controller::Odometry::wheel_steering_y_offset_

private

Definition at line 249 of file odometry.h.

double four_wheel_steering_controller::Odometry::x_

private

Current pose:

Definition at line 239 of file odometry.h.

double four_wheel_steering_controller::Odometry::y_

private

Definition at line 240 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