odometry.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, PAL Robotics, S.L.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the PAL Robotics nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/*
 * 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 diff_drive_controller
{
    namespace bacc = boost::accumulators;

    class Odometry
    {
    public:

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

        Odometry(size_t velocity_rolling_window_size, double slipFactor);

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

        bool update(double left_pos, double right_pos, const ros::Time &time);

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

        double getHeading() const
        {
          return heading_;
        }

        double getX() const
        {
          return x_;
        }

        double getY() const
        {
          return y_;
        }

        double getLinear() const
        {
          return linear_;
        }

        double getAngular() const
        {
          return angular_;
        }

        double getSlipFactor() {return _slipFactor;}

        void setWheelParams(double wheel_separation, double wheel_radius);

        void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);

        void setSlipFactor(double slipFactor);

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

        void integrateRungeKutta2(double linear, double angular);

        void integrateExact(double linear, double angular);

        void resetAccumulators();

        ros::Time timestamp_;

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

        double linear_;  //   [m/s]
        double angular_; // [rad/s]

        double wheel_separation_;
        double wheel_radius_;

        double left_wheel_old_pos_;
        double right_wheel_old_pos_;

        size_t velocity_rolling_window_size_;
        RollingMeanAcc linear_acc_;
        RollingMeanAcc angular_acc_;

        IntegrationFunction integrate_fun_;
    };
}

#endif /* ODOMETRY_H_ */