odometry.hpp

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/*
 * Author: Luca Marchionni
 * Author: Bence Magyar
 * Author: Enrique Fernández
 * Author: Paul Mathieu
 * 
 * Author: Braden McDorman (Semio AI, Inc.)
 */
 
#pragma once
 
 
#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 quori_holonomic_drive_controller
{
  namespace bacc = boost::accumulators;
 
  class Odometry
  {
  public:
 
    typedef boost::function<void(double, double)> IntegrationFunction;
 
    Odometry(size_t velocity_rolling_window_size = 10);
 
    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_;
    }
 
    void setWheelParams(double wheel_separation, double left_wheel_radius, double right_wheel_radius);
 
    void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
 
  private:
 
    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 left_wheel_radius_;
    double right_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_;
  };
}