odometry.h

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

#ifndef ODOMETRY_H_
#define ODOMETRY_H_

#include <ros/time.h>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/rolling_mean.hpp>
#include <boost/function.hpp>

namespace mecanum_drive_controller
{

namespace bacc = boost::accumulators;

class Odometry
{
public:

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

  Odometry(size_t velocity_rolling_window_size = 10);

  void init(const ros::Time &time);

  bool update(double wheel0_vel, double wheel1_vel, double wheel2_vel, double wheel3_vel, const ros::Time &time);

  void updateOpenLoop(double linearX, double linearY, double angular, const ros::Time &time);

  double getHeading() const
  {
    return heading_;
  }

  double getX() const
  {
    return x_;
  }

  double getY() const
  {
    return y_;
  }

  double getLinearX() const
  {
    return linearX_;
  }

  double getLinearY() const
  {
    return linearY_;
  }

  double getAngular() const
  {
    return angular_;
  }

  void setWheelsParams(double wheels_k, double wheels_radius);

private:

  typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > RollingMeanAcc;
  typedef bacc::tag::rolling_window RollingWindow;

  void integrateExact(double linearX, double linearY, double angular);

  ros::Time timestamp_;

  double x_;        //   [m]
  double y_;        //   [m]
  double heading_;  // [rad]

  double linearX_;  //   [m/s]
  double linearY_;  //   [m/s]
  double angular_; // [rad/s]

  double wheels_k_;
  double wheels_radius_;

  size_t velocity_rolling_window_size_;
  RollingMeanAcc linearX_acc_;
  RollingMeanAcc linearY_acc_;
  RollingMeanAcc angular_acc_;

  IntegrationFunction integrate_fun_;
};

} // namespace mecanum_drive_controller

#endif /* ODOMETRY_H_ */