odometry.h
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00034 
00035 /*
00036  * Author: Luca Marchionni
00037  * Author: Bence Magyar
00038  */
00039 
00040 #ifndef ODOMETRY_H_
00041 #define ODOMETRY_H_
00042 
00043 #include <ros/time.h>
00044 #include <boost/accumulators/accumulators.hpp>
00045 #include <boost/accumulators/statistics/stats.hpp>
00046 #include <boost/accumulators/statistics/rolling_mean.hpp>
00047 #include <boost/function.hpp>
00048 
00049 namespace diff_drive_controller
00050 {
00051   namespace bacc = boost::accumulators;
00052 
00057   class Odometry
00058   {
00059   public:
00060 
00062     typedef boost::function<void(double, double)> IntegrationFunction;
00063 
00070     Odometry(size_t velocity_rolling_window_size = 10);
00071 
00079     bool update(double left_pos, double right_pos, const ros::Time &time);
00080 
00085     double getHeading() const
00086     {
00087       return heading_;
00088     }
00089 
00094     double getX() const
00095     {
00096       return x_;
00097     }
00098 
00103     double getY() const
00104     {
00105       return y_;
00106     }
00107 
00112     ros::Time getTimestamp() const
00113     {
00114       return timestamp_;
00115     }
00116 
00121     double getLinearEstimated() const;
00122 
00127     double getAngularEstimated() const;
00128 
00134     void setWheelParams(double wheel_separation, double wheel_radius);
00135 
00136   private:
00137 
00139     typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > RollingMeanAcc;
00140     typedef bacc::tag::rolling_window RollingWindow;
00141 
00147     void integrateRungeKutta2(double linear, double angular);
00148 
00154     void integrateExact(double linear, double angular);
00155 
00157     ros::Time timestamp_;
00158 
00160     double x_;        //   [m]
00161     double y_;        //   [m]
00162     double heading_;  // [rad]
00163 
00165     double wheel_separation_;
00166     double wheel_radius_;
00167 
00169     double left_wheel_old_pos_;
00170     double right_wheel_old_pos_;
00171 
00173     RollingMeanAcc linear_acc_;
00174     RollingMeanAcc angular_acc_;
00175 
00177     IntegrationFunction integrate_fun_;
00178   };
00179 }
00180 
00181 #endif /* ODOMETRY_H_ */


jackal_diff_drive_controller
Author(s): Bence Magyar
autogenerated on Fri Dec 12 2014 23:32:03