The Odometry class handles odometry readings (2D pose and velocity with related timestamp)
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#include <odometry.h>
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| typedef boost::function< void(double, double, double)> | IntegrationFunction |
| | Integration function, used to integrate the odometry: More...
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| typedef bacc::accumulator_set< double, bacc::stats< bacc::tag::rolling_mean > > | RollingMeanAcc |
| | Rolling mean accumulator and window: More...
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| typedef bacc::tag::rolling_window | RollingWindow |
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| void | integrateExact (double linearX, double linearY, double angular) |
| | Integrates the velocities (linear and angular) using exact method. More...
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The Odometry class handles odometry readings (2D pose and velocity with related timestamp)
Definition at line 60 of file odometry.h.
Integration function, used to integrate the odometry:
Definition at line 65 of file odometry.h.
Rolling mean accumulator and window:
Definition at line 164 of file odometry.h.
| mecanum_drive_controller::Odometry::Odometry |
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size_t |
velocity_rolling_window_size = 10 | ) |
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Constructor Timestamp will get the current time value Value will be set to zero.
- Parameters
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| velocity_rolling_window_size | Rolling window size used to compute the velocity mean |
Definition at line 54 of file odometry.cpp.
| double mecanum_drive_controller::Odometry::getAngular |
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const |
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inline |
angular velocity getter
- Returns
- angular velocity [rad/s]
Definition at line 149 of file odometry.h.
| double mecanum_drive_controller::Odometry::getHeading |
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const |
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inline |
heading getter
- Returns
- heading [rad]
Definition at line 104 of file odometry.h.
| double mecanum_drive_controller::Odometry::getLinearX |
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const |
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inline |
linearX velocity getter
- Returns
- linearX velocity [m/s]
Definition at line 131 of file odometry.h.
| double mecanum_drive_controller::Odometry::getLinearY |
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const |
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inline |
linearY velocity getter
- Returns
- linearY velocity [m/s]
Definition at line 140 of file odometry.h.
| double mecanum_drive_controller::Odometry::getX |
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const |
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inline |
x position getter
- Returns
- x position [m]
Definition at line 113 of file odometry.h.
| double mecanum_drive_controller::Odometry::getY |
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const |
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inline |
y position getter
- Returns
- y position [m]
Definition at line 122 of file odometry.h.
| void mecanum_drive_controller::Odometry::init |
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const ros::Time & |
time | ) |
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Initialize the odometry.
- Parameters
-
Definition at line 73 of file odometry.cpp.
| void mecanum_drive_controller::Odometry::integrateExact |
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double |
linearX, |
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double |
linearY, |
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double |
angular |
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) |
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private |
Integrates the velocities (linear and angular) using exact method.
- Parameters
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| linearX | Linear velocity along X m computed by encoders |
| linearY | Linear velocity along Y m computed by encoders |
| angular | Angular velocity rad computed by encoders |
Integrate angular velocity.
The odometry pose should be published in the /odom frame (unlike the odometry twist which is a body twist). Project the twist in the odometry basis (we cannot integrate linearX, linearY, angular 'as are' because they correspond to a body twist).
Integrate linear velocity.
Definition at line 132 of file odometry.cpp.
| void mecanum_drive_controller::Odometry::setWheelsParams |
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double |
wheels_k, |
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double |
wheels_radius |
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) |
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Sets the wheels parameters: mecanum geometric param and radius.
- Parameters
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| wheels_k | Wheels geometric param (used in mecanum wheels' ik) [m] |
| wheels_radius | Wheels radius [m] |
Definition at line 124 of file odometry.cpp.
| bool mecanum_drive_controller::Odometry::update |
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double |
wheel0_vel, |
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double |
wheel1_vel, |
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double |
wheel2_vel, |
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double |
wheel3_vel, |
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const ros::Time & |
time |
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Updates the odometry class with latest wheels position.
- Parameters
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| wheel0_vel | Wheel velocity [rad] |
| wheel1_vel | Wheel velocity [rad] |
| wheel2_vel | Wheel velocity [rad] |
| wheel3_vel | Wheel velocity [rad] |
| time | Current time |
- Returns
- true if the odometry is actually updated
We cannot estimate the speed with very small time intervals:
Compute forward kinematics (i.e. compute mobile robot's body twist out of its wheels velocities): NOTE: we use the IK of the mecanum wheels which we invert using a pseudo-inverse. NOTE: in the diff drive the velocity is filtered out, but we prefer to return it raw and let the user perform post-processing at will. We prefer this way of doing as filtering introduces delay (which makes it difficult to interpret and compare behavior curves).
Integrate odometry.
Definition at line 85 of file odometry.cpp.
| void mecanum_drive_controller::Odometry::updateOpenLoop |
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double |
linearX, |
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double |
linearY, |
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double |
angular, |
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const ros::Time & |
time |
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) |
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Updates the odometry class with latest velocity command.
- Parameters
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| linearX | Linear velocity [m/s] |
| angular | Angular velocity [rad/s] |
| time | Current time |
Save last linear and angular velocity:
Integrate odometry:
Definition at line 110 of file odometry.cpp.
| double mecanum_drive_controller::Odometry::angular_ |
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private |
| double mecanum_drive_controller::Odometry::heading_ |
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private |
Integration funcion, used to integrate the odometry:
Definition at line 199 of file odometry.h.
| double mecanum_drive_controller::Odometry::linearX_ |
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private |
| double mecanum_drive_controller::Odometry::linearY_ |
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| ros::Time mecanum_drive_controller::Odometry::timestamp_ |
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| size_t mecanum_drive_controller::Odometry::velocity_rolling_window_size_ |
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private |
Rolling mean accumulators for the linar and angular velocities:
Definition at line 193 of file odometry.h.
| double mecanum_drive_controller::Odometry::wheels_k_ |
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private |
Wheels kinematic parameters [m]:
Definition at line 189 of file odometry.h.
| double mecanum_drive_controller::Odometry::wheels_radius_ |
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private |
| double mecanum_drive_controller::Odometry::x_ |
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private |
| double mecanum_drive_controller::Odometry::y_ |
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private |
The documentation for this class was generated from the following files: