rosie_odometry.h

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#define EIGEN2_SUPPORT

#include <Eigen/SVD>
#include <nav_msgs/Odometry.h>
#include <realtime_tools/realtime_publisher.h>
#include <tf/tfMessage.h>
#include <tf/tf.h>
#include <pr2_mechanism_controllers/base_kinematics.h>
#include <angles/angles.h>

#include <boost/scoped_ptr.hpp>

typedef Eigen::Matrix<float, 3, 1> OdomMatrix3x1;
typedef Eigen::Matrix<float, 16, 1> OdomMatrix16x1;
typedef Eigen::Matrix<float, 16, 3> OdomMatrix16x3;
typedef Eigen::Matrix<float, 16, 16> OdomMatrix16x16;

namespace controller
{
  class RosieOdometry : public pr2_controller_interface::Controller
  {
    public:

    RosieOdometry();

    ~RosieOdometry();

    bool initXml(pr2_mechanism_model::RobotState *robot_state, TiXmlElement *config);

    bool init(pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &node);

    /*
    * \brief  The starting method is called by the realtime thread just before
    * the first call to update.  Overrides Controller.staring().
    * @return Successful start
    */
    void starting();

    void update();

    void publish();


    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    private:

    ros::NodeHandle node_;

    BaseKinematics base_kin_;

    void updateOdometry();

    void getOdometryMessage(nav_msgs::Odometry &msg);

    void getOdometry(double &x, double &y, double &yaw, double &vx, double &vy, double &vw);

    void getOdometry(geometry_msgs::Point &odom, geometry_msgs::Twist &odom_vel);

    void computeBaseVelocity();

    double getCorrectedWheelSpeed(int index);

    Eigen::MatrixXf iterativeLeastSquares(Eigen::MatrixXf lhs, Eigen::MatrixXf rhs, std::string weight_type, int max_iter);

    Eigen::MatrixXf findWeightMatrix(Eigen::MatrixXf residual, std::string weight_type);

    double odometer_distance_;

    double odometer_angle_;

    ros::Time last_time_,current_time_;

    Eigen::MatrixXf cbv_rhs_, fit_rhs_, fit_residual_, odometry_residual_, cbv_lhs_, fit_lhs_, cbv_soln_,fit_soln_,  weight_matrix_;

    geometry_msgs::Point odom_;

    geometry_msgs::Twist odom_vel_;

    std::string ils_weight_type_;

    int ils_max_iterations_;

    double odometry_residual_max_;

    std::string odom_frame_;

    std::string base_link_frame_;


    ros::Time last_publish_time_;

    double expected_publish_time_;

    boost::scoped_ptr<realtime_tools::RealtimePublisher <nav_msgs::Odometry> > odometry_publisher_ ;

    boost::scoped_ptr<realtime_tools::RealtimePublisher <tf::tfMessage> > transform_publisher_ ;

    double sigma_x_,sigma_y_,sigma_theta_,cov_x_y_,cov_x_theta_,cov_y_theta_;


    void populateCovariance(double residual, nav_msgs::Odometry &msg);

  };
}