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: More...

Public Member Functions
double	getAngular () const
	angular velocity getter More...

double	getHeading () const
	heading getter More...

double	getLinear () const
	linear velocity getter More...

double	getX () const
	x position getter More...

double	getY () const
	y position getter More...

void	init (const ros::Time &time)
	Initialize the odometry. More...

	Odometry (size_t velocity_rolling_window_size=10)
	Constructor Timestamp will get the current time value Value will be set to zero. More...

void	setGearRatios (double drive_motor_gear_ratio, double steer_motor_gear_ratio)
	Sets the gear ratio parameters: gear ratio. More...

void	setWheelsParams (double wheel_radius, double wheel_separation)
	Sets the wheels parameters: radius and seperation. More...

bool	update (double drive_motor_vel, double steer_motor_vel, const ros::Time &time)
	Updates the odometry class with latest wheels position. More...

void	updateOpenLoop (double linear, double angular, const ros::Time &time)
	Updates the odometry class with latest velocity command. More...

Private Types
typedef bacc::accumulator_set< double, bacc::stats< bacc::tag::rolling_mean > >	RollingMeanAcc
	Rolling mean accumulator and window: More...

typedef bacc::tag::rolling_window	RollingWindow

Private Member Functions
void	integrateExact (double linear, double angular)
	Integrates the velocities (linear and angular) using exact method. More...

Private Attributes
double	angular_

RollingMeanAcc	angular_acc_

double	drive_motor_gear_ratio_

double	heading_

IntegrationFunction	integrate_fun_
	Integration funcion, used to integrate the odometry: More...

double	linear_
	Current velocity: More...

RollingMeanAcc	linear_acc_

double	steer_motor_gear_ratio_

ros::Time	timestamp_
	Current timestamp: More...

size_t	velocity_rolling_window_size_
	Rolling mean accumulators for the linar and angular velocities: More...

double	wheel_radius_
	Wheels kinematic parameters [m]: More...

double	wheel_separation_

double	x_
	Current pose: More...

double	y_

Detailed Description

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

Definition at line 60 of file odometry.h.

Member Typedef Documentation

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

Integration function, used to integrate the odometry:

Definition at line 65 of file odometry.h.

typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > double_diff_drive_controller::Odometry::RollingMeanAcc

private

Rolling mean accumulator and window:

Definition at line 160 of file odometry.h.

typedef bacc::tag::rolling_window double_diff_drive_controller::Odometry::RollingWindow

private

Definition at line 161 of file odometry.h.

Constructor & Destructor Documentation

double_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 54 of file odometry.cpp.

Member Function Documentation

double double_diff_drive_controller::Odometry::getAngular ( ) const

inline

angular velocity getter

Returns: angular velocity [rad/s]

Definition at line 138 of file odometry.h.

double double_diff_drive_controller::Odometry::getHeading ( ) const

inline

heading getter

Returns: heading [rad]

Definition at line 102 of file odometry.h.

double double_diff_drive_controller::Odometry::getLinear ( ) const

inline

linear velocity getter

Returns: linear velocity [m/s]

Definition at line 129 of file odometry.h.

double double_diff_drive_controller::Odometry::getX ( ) const

inline

x position getter

Returns: x position [m]

Definition at line 111 of file odometry.h.

double double_diff_drive_controller::Odometry::getY ( ) const

inline

y position getter

Returns: y position [m]

Definition at line 120 of file odometry.h.

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

Initialize the odometry.

Parameters

time	Current time

Definition at line 71 of file odometry.cpp.

void double_diff_drive_controller::Odometry::integrateExact	(	double	linear,
		double	angular
	)

private

Integrates the velocities (linear and angular) using exact method.

Parameters

linear	Linear velocity along X 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 linear, angular 'as are' because they correspond to a body twist).

Integrate linear velocity.

Definition at line 128 of file odometry.cpp.

void double_diff_drive_controller::Odometry::setGearRatios	(	double	drive_motor_gear_ratio,
		double	steer_motor_gear_ratio
	)

Sets the gear ratio parameters: gear ratio.

Parameters

drive_motor_gear_ratio	Drive motor gear ratio [-]
steer_motor_gear_ratio	Steer motor gear ratio [-]

Definition at line 121 of file odometry.cpp.

void double_diff_drive_controller::Odometry::setWheelsParams	(	double	wheel_radius,
		double	wheel_separation
	)

Sets the wheels parameters: radius and seperation.

Parameters

wheel_radius	Wheels radius [m]
wheel_seperation	Distance between wheels [m]

Definition at line 114 of file odometry.cpp.

bool double_diff_drive_controller::Odometry::update	(	double	drive_motor_vel,
		double	steer_motor_vel,
		const ros::Time &	time
	)

Updates the odometry class with latest wheels position.

Parameters

wheel0_vel	Wheel velocity [rad]
wheel1_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:

Integrate odometry.

Definition at line 82 of file odometry.cpp.

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

Updates the odometry class with latest velocity command.

Parameters

linear	Linear velocity [m/s]
angular	Angular velocity [rad/s]
time	Current time

Save last linear and angular velocity:

Integrate odometry:

Definition at line 101 of file odometry.cpp.

Member Data Documentation

double double_diff_drive_controller::Odometry::angular_

private

Definition at line 180 of file odometry.h.

RollingMeanAcc double_diff_drive_controller::Odometry::angular_acc_

private

Definition at line 189 of file odometry.h.

double double_diff_drive_controller::Odometry::drive_motor_gear_ratio_

private

Definition at line 184 of file odometry.h.

double double_diff_drive_controller::Odometry::heading_

private

Definition at line 176 of file odometry.h.

IntegrationFunction double_diff_drive_controller::Odometry::integrate_fun_

private

Integration funcion, used to integrate the odometry:

Definition at line 192 of file odometry.h.

double double_diff_drive_controller::Odometry::linear_

private

Current velocity:

Definition at line 179 of file odometry.h.

RollingMeanAcc double_diff_drive_controller::Odometry::linear_acc_

private

Definition at line 188 of file odometry.h.

double double_diff_drive_controller::Odometry::steer_motor_gear_ratio_

private

Definition at line 184 of file odometry.h.

ros::Time double_diff_drive_controller::Odometry::timestamp_

private

Current timestamp:

Definition at line 171 of file odometry.h.

size_t double_diff_drive_controller::Odometry::velocity_rolling_window_size_

private

Rolling mean accumulators for the linar and angular velocities:

Definition at line 187 of file odometry.h.

double double_diff_drive_controller::Odometry::wheel_radius_

private

Wheels kinematic parameters [m]:

Definition at line 183 of file odometry.h.

double double_diff_drive_controller::Odometry::wheel_separation_

private

Definition at line 183 of file odometry.h.

double double_diff_drive_controller::Odometry::x_

private

Current pose:

Definition at line 174 of file odometry.h.

double double_diff_drive_controller::Odometry::y_

private

Definition at line 175 of file odometry.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation