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:
Public Member Functions
double	getAngular () const
	angular velocity getter
double	getHeading () const
	heading getter
double	getLinear () const
	linear velocity getter
double	getX () const
	x position getter
double	getY () const
	y position getter
void	init (const ros::Time &time)
	Initialize the odometry.
	Odometry (size_t velocity_rolling_window_size=10)
	Constructor Timestamp will get the current time value Value will be set to zero.
void	setVelocityRollingWindowSize (size_t velocity_rolling_window_size)
	Velocity rolling window size setter.
void	setWheelParams (double wheel_separation, double wheel_radius)
	Sets the wheel parameters: radius and separation.
bool	update (double left_pos, double right_pos, const ros::Time &time)
	Updates the odometry class with latest wheels position.
void	updateOpenLoop (double linear, double angular, const ros::Time &time)
	Updates the odometry class with latest velocity command.
Private Types
typedef bacc::accumulator_set < double, bacc::stats < bacc::tag::rolling_mean > >	RollingMeanAcc
	Rolling mean accumulator and window:
typedef bacc::tag::rolling_window	RollingWindow
Private Member Functions
void	integrateExact (double linear, double angular)
	Integrates the velocities (linear and angular) using exact method.
void	integrateRungeKutta2 (double linear, double angular)
	Integrates the velocities (linear and angular) using 2nd order Runge-Kutta.
void	resetAccumulators ()
	Reset linear and angular accumulators.
Private Attributes
double	angular_
RollingMeanAcc	angular_acc_
double	heading_
IntegrationFunction	integrate_fun_
	Integration funcion, used to integrate the odometry:
double	left_wheel_old_pos_
	Previou wheel position/state [rad]:
double	linear_
	Current velocity:
RollingMeanAcc	linear_acc_
double	right_wheel_old_pos_
ros::Time	timestamp_
	Current timestamp:
size_t	velocity_rolling_window_size_
	Rolling mean accumulators for the linar and angular velocities:
double	wheel_radius_
double	wheel_separation_
	Wheel kinematic parameters [m]:
double	x_
	Current pose:
double	y_

Detailed Description

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

Definition at line 59 of file odometry.h.

Member Typedef Documentation

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

Integration function, used to integrate the odometry:

Definition at line 64 of file odometry.h.

typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > diff_drive_controller::Odometry::RollingMeanAcc [private]

Rolling mean accumulator and window:

Definition at line 158 of file odometry.h.

typedef bacc::tag::rolling_window diff_drive_controller::Odometry::RollingWindow [private]

Definition at line 159 of file odometry.h.

Constructor & Destructor Documentation

diff_drive_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 50 of file odometry.cpp.

Member Function Documentation

double diff_drive_controller::Odometry::getAngular ( ) const [inline]

angular velocity getter

Returns:: angular velocity [rad/s]

Definition at line 137 of file odometry.h.

double diff_drive_controller::Odometry::getHeading ( ) const [inline]

heading getter

Returns:: heading [rad]

Definition at line 101 of file odometry.h.

double diff_drive_controller::Odometry::getLinear ( ) const [inline]

linear velocity getter

Returns:: linear velocity [m/s]

Definition at line 128 of file odometry.h.

double diff_drive_controller::Odometry::getX ( ) const [inline]

x position getter

Returns:: x position [m]

Definition at line 110 of file odometry.h.

double diff_drive_controller::Odometry::getY ( ) const [inline]

y position getter

Returns:: y position [m]

Definition at line 119 of file odometry.h.

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

Initialize the odometry.

Parameters:

time	Current time

Definition at line 68 of file odometry.cpp.

void diff_drive_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] (linear displacement, i.e. m/s * dt) computed by encoders
angular	Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed by encoders
linear
angular

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

Definition at line 153 of file odometry.cpp.

void diff_drive_controller::Odometry::integrateRungeKutta2	(	double	linear,
		double	angular
	)		`[private]`

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

Parameters:

linear	Linear velocity [m] (linear displacement, i.e. m/s * dt) computed by encoders
angular	Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed by encoders

Runge-Kutta 2nd order integration:

Definition at line 138 of file odometry.cpp.

void diff_drive_controller::Odometry::resetAccumulators ( ) [private]

Reset linear and angular accumulators.

Definition at line 168 of file odometry.cpp.

void diff_drive_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.