detect position by Odometry More...

#include <Odometry.h>

Classes
struct	BODY
	structure parameter related to BODY data More...
struct	CURRENT
	structure parameter related to CURRENT data More...
Public Member Functions
virtual void	calcOdometry ()
	calc Current Position by Odometry
virtual void	getLocalizedPosition ()
	get Localized Position data from INPORT
virtual bool	getWheelAngleData ()
	get Current wheel's Angle data from INPORT
	Odometry (RTC::Manager *manager)
	constructor
virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onInitialize ()
virtual void	outputData ()
	set DATA and write to OUTPORT
virtual void	setCurrentToOld ()
	set current data to previous
	~Odometry ()
	destructor
Protected Attributes
TimedDoubleSeq	m_CurrentWheelAngle
InPort< TimedDoubleSeq >	m_CurrentWheelAngleIn
int	m_leftWheelID
double	m_lengthOfAxle
IIS::TimedPose2D	m_LocalizedPosition
InPort< IIS::TimedPose2D >	m_LocalizedPositionIn
IIS::TimedPose2D	m_OdometryPosition
OutPort< IIS::TimedPose2D >	m_OdometryPositionOut
double	m_radiusOfBodyArea
double	m_radiusOfLeftWheel
double	m_radiusOfRightWheel
int	m_rightWheelID
Private Attributes
struct Odometry::BODY	Body
struct Odometry::CURRENT	Current
bool	InitialAngleFlag
	InitialFlag [false:current wheel angle have not been initialized yet][true:current wheel angle have been already initialized].
bool	InitialPositionFlag
	InitialFlag [false:current position have not been initialized yet][true:current position have been already initialized].
double	RhoBorder
	if rho > RhoBorder -> staraight line
double	RotationAngleBorder
	the border value used by approximation calculation
double	timeStep
	timeStep([sec])
Static Private Attributes
static const int	Dof = 2
	Degree of Freedom = 2(left/right wheel)

Detailed Description

detect position by Odometry

(1)get current Wheel Angle data from MotorControlRTC (2)get current Robot's position data from LocalizationRTC (3)calculate current position by Odometry (4)send current odometry position data to LocalizationRTC

[INPUT] (1) current Angle data (encoder data) (2) current position data [OUTPUT] (1) Odometry's position data

Definition at line 90 of file Odometry.h.

Constructor & Destructor Documentation

Odometry::Odometry ( RTC::Manager * manager )

constructor

Parameters:

manager Maneger Object

Definition at line 50 of file Odometry.cpp.

Odometry::~Odometry ( )

destructor

Definition at line 64 of file Odometry.cpp.

Member Function Documentation

void Odometry::calcOdometry ( ) [inline, virtual]

calc Current Position by Odometry

Returns:: void

Definition at line 440 of file Odometry.cpp.

void Odometry::getLocalizedPosition ( ) [inline, virtual]

get Localized Position data from INPORT

Returns:: void

Definition at line 342 of file Odometry.cpp.

bool Odometry::getWheelAngleData ( ) [inline, virtual]

get Current wheel's Angle data from INPORT

Returns:: bool (true:OK, false:NG)

Definition at line 387 of file Odometry.cpp.

RTC::ReturnCode_t Odometry::onActivated ( RTC::UniqueId ec_id ) [virtual]

(1) update INPORT's data (2) open files for debugging (3) initialize

Definition at line 148 of file Odometry.cpp.

RTC::ReturnCode_t Odometry::onDeactivated ( RTC::UniqueId ec_id ) [virtual]

(1)close files for debugging

Definition at line 223 of file Odometry.cpp.

RTC::ReturnCode_t Odometry::onExecute ( RTC::UniqueId ec_id ) [virtual]

(1)get current Wheel Angle data from MotorControlRTC (2)get current Robot's position data from LocalizationRTC (3)calculate current position by Odometry (4)send current odometry position data to LocalizationRTC

Definition at line 250 of file Odometry.cpp.

RTC::ReturnCode_t Odometry::onInitialize ( ) [virtual]

set Configuration parameters

Definition at line 72 of file Odometry.cpp.

void Odometry::outputData ( ) [inline, virtual]

set DATA and write to OUTPORT

Returns:: void

Definition at line 552 of file Odometry.cpp.

void Odometry::setCurrentToOld ( ) [inline, virtual]

set current data to previous

Returns:: void

Definition at line 524 of file Odometry.cpp.

Member Data Documentation

struct Odometry::BODY Odometry::Body [private]

struct Odometry::CURRENT Odometry::Current [private]

const int Odometry::Dof = 2 [static, private]

Degree of Freedom = 2(left/right wheel)

Definition at line 285 of file Odometry.h.

bool Odometry::InitialAngleFlag [private]

InitialFlag [false:current wheel angle have not been initialized yet][true:current wheel angle have been already initialized].

Definition at line 334 of file Odometry.h.

bool Odometry::InitialPositionFlag [private]

InitialFlag [false:current position have not been initialized yet][true:current position have been already initialized].

Definition at line 333 of file Odometry.h.

TimedDoubleSeq Odometry::m_CurrentWheelAngle [protected]

Definition at line 236 of file Odometry.h.

InPort<TimedDoubleSeq> Odometry::m_CurrentWheelAngleIn [protected]

current Wheel Angle data for Odometry

Type: angle data: double, timeStamp:tm
Number: angle data:2, timeStamp:1
Semantics: current Wheel Angle data for Odometry [0]: left wheel's current data [1]: right wheel's current data
Unit: angle data : [rad], timeStamp: [sec],[nanosec]

Definition at line 246 of file Odometry.h.

int Odometry::m_leftWheelID [protected]

ID number of left wheel of mobile robot.

Name: leftWheelID leftWheelID
DefaultValue: 0
Unit: none
Constraint: none

Definition at line 192 of file Odometry.h.

double Odometry::m_lengthOfAxle [protected]

length of axle (from left wheel to right wheel)

Name: lengthOfAxle lengthOfAxle
DefaultValue: 0.441
Unit: [m]
Constraint: none

Definition at line 224 of file Odometry.h.

IIS::TimedPose2D Odometry::m_LocalizedPosition [protected]

Definition at line 247 of file Odometry.h.

InPort<IIS::TimedPose2D> Odometry::m_LocalizedPositionIn [protected]

current Localized Position data

Type: localized Position data: double, timeStamp:tm
Number: 4 (x,y, posture angle) , timeStamp:1 ,id[] ,error[]
Semantics: current Localized Position data (the position of center of rob ots model) [0]: X data [1]: Y data [2]: posture angle[rad]
Unit: X,Y data : [m], Angle : [rad], timeStamp: [sec],[nanosec]

Definition at line 260 of file Odometry.h.

IIS::TimedPose2D Odometry::m_OdometryPosition [protected]

Definition at line 267 of file Odometry.h.

OutPort<IIS::TimedPose2D> Odometry::m_OdometryPositionOut [protected]

current Odometry Position data

Type: Odometry Position data: double, timeStamp:tm
Number: 4 (x,y, posture angle) , timeStamp:1 ,id[] ,error[]
Semantics: current Odometry Position data (the position of center of robo ts model) [0]: X data [1]: Y data [2]: posture angle[rad]
Unit: X,Y data : [m], Angle : [rad], timeStamp: [sec],[nanosec]

Definition at line 279 of file Odometry.h.

double Odometry::m_radiusOfBodyArea [protected]

length of body radius (from center of Axle to corner of Body)