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:
Public Member Functions
double	getAngular () const
	angular velocity getter
double	getHeading () const
	heading getter
double	getLinear () const
	linear velocity getter norm
double	getLinearX () const
	linear velocity getter along X on the robot base link frame
double	getLinearY () const
	linear velocity getter along Y on the robot base link frame
double	getX () const
	x position getter
double	getY () const
	y position getter
void	init (const ros::Time &time)
	Initialize the odometry.
	Odometry (size_t velocity_rolling_window_size=10)
	Constructor Timestamp will get the current time value Value will be set to zero.
void	setVelocityRollingWindowSize (size_t velocity_rolling_window_size)
	Velocity rolling window size setter.
void	setWheelParams (double track, double wheel_radius, double wheel_base)
	Sets the wheel parameters: radius and separation.
bool	update (const double &fl_speed, const double &fr_speed, const double &rl_speed, const double &rr_speed, double front_steering, double rear_steering, const ros::Time &time)
	Updates the odometry class with latest wheels and steerings position.
void	updateOpenLoop (double linear, double angular, const ros::Time &time)
	Updates the odometry class with latest velocity command.
Private Types
typedef bacc::accumulator_set < double, bacc::stats < bacc::tag::rolling_mean > >	RollingMeanAcc
	Rolling mean accumulator and window:
typedef bacc::tag::rolling_window	RollingWindow
Private Member Functions
void	integrateExact (double linear, double angular)
	Integrates the velocities (linear and angular) using exact method.
void	integrateRungeKutta2 (double linear, double angular)
	Integrates the velocities (linear and angular) using 2nd order Runge-Kutta.
void	integrateXY (double linear_x, double linear_y, double angular)
	Integrates the velocities (linear on x and y and angular)
void	resetAccumulators ()
	Reset linear and angular accumulators.
Private Attributes
double	angular_
RollingMeanAcc	angular_acc_
double	heading_
ros::Time	last_update_timestamp_
double	linear_
	Current velocity:
RollingMeanAcc	linear_acc_
double	linear_x_
double	linear_y_
ros::Time	timestamp_
	Current timestamp:
double	track_
	Wheel kinematic parameters [m]:
size_t	velocity_rolling_window_size_
	Rolling mean accumulators for the linar and angular velocities:
double	wheel_base_
double	wheel_old_pos_
	Previous wheel position/state [rad]:
double	wheel_radius_
double	x_
	Current pose:
double	y_

Detailed Description

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

Definition at line 19 of file odometry.h.

Member Typedef Documentation

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

Integration function, used to integrate the odometry:

Definition at line 24 of file odometry.h.

typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > four_wheel_steering_controller::Odometry::RollingMeanAcc [private]

Rolling mean accumulator and window:

Definition at line 143 of file odometry.h.

typedef bacc::tag::rolling_window four_wheel_steering_controller::Odometry::RollingWindow [private]

Definition at line 144 of file odometry.h.

Constructor & Destructor Documentation

four_wheel_steering_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 9 of file odometry.cpp.

Member Function Documentation

double four_wheel_steering_controller::Odometry::getAngular ( ) const [inline]

angular velocity getter

Returns:: angular velocity [rad/s]

Definition at line 121 of file odometry.h.

double four_wheel_steering_controller::Odometry::getHeading ( ) const [inline]

heading getter

Returns:: heading [rad]

Definition at line 66 of file odometry.h.

double four_wheel_steering_controller::Odometry::getLinear ( ) const [inline]

linear velocity getter norm

Returns:: linear velocity [m/s]

Definition at line 94 of file odometry.h.

double four_wheel_steering_controller::Odometry::getLinearX ( ) const [inline]

linear velocity getter along X on the robot base link frame

Returns:: linear velocity [m/s]

Definition at line 103 of file odometry.h.

double four_wheel_steering_controller::Odometry::getLinearY ( ) const [inline]

linear velocity getter along Y on the robot base link frame

Returns:: linear velocity [m/s]

Definition at line 112 of file odometry.h.

double four_wheel_steering_controller::Odometry::getX ( ) const [inline]

x position getter

Returns:: x position [m]

Definition at line 75 of file odometry.h.

double four_wheel_steering_controller::Odometry::getY ( ) const [inline]

y position getter

Returns:: y position [m]

Definition at line 84 of file odometry.h.

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

Initialize the odometry.

Parameters:

time	Current time

Definition at line 29 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::integrateExact	(	double	linear,
		double	angular
	)		`[private]`

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

Parameters:

linear	Linear velocity [m] (linear displacement, i.e. m/s * dt) computed by encoders
angular	Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed by encoders

Exact integration (should solve problems when angular is zero):

Definition at line 111 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::integrateRungeKutta2	(	double	linear,
		double	angular
	)		`[private]`

Integrates the velocities (linear and angular) using 2nd order Runge-Kutta.

Parameters:

linear	Linear velocity [m] (linear displacement, i.e. m/s * dt) computed by encoders
angular	Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed by encoders

Runge-Kutta 2nd order integration:

Definition at line 101 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::integrateXY	(	double	linear_x,
		double	linear_y,
		double	angular
	)		`[private]`

Integrates the velocities (linear on x and y and angular)

Parameters:

linear_x	Linear velocity along x of the robot frame [m] (linear displacement, i.e. m/s * dt) computed by encoders
linear_y	Linear velocity along y of the robot frame [m] (linear displacement, i.e. m/s * dt) computed by encoders
angular	Angular velocity [rad] (angular displacement, i.e. m/s * dt) computed by encoders

Definition at line 91 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::resetAccumulators ( ) [private]

Reset linear and angular accumulators.

Definition at line 126 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::setVelocityRollingWindowSize ( size_t velocity_rolling_window_size )

Velocity rolling window size setter.

Parameters:

velocity_rolling_window_size Velocity rolling window size

Definition at line 84 of file odometry.cpp.

void four_wheel_steering_controller::Odometry::setWheelParams	(	double	track,
		double	wheel_radius,
		double	wheel_base
	)

Sets the wheel parameters: radius and separation.

Parameters:

track	Seperation between left and right wheels [m]
wheel_radius	Wheel radius [m]
wheel_base	Wheel base [m]

Definition at line 77 of file odometry.cpp.

bool four_wheel_steering_controller::Odometry::update	(	const double &	fl_speed,
		const double &	fr_speed,
		const double &	rl_speed,
		const double &	rr_speed,
		double	front_steering,
		double	rear_steering,
		const ros::Time &	time
	)

Updates the odometry class with latest wheels and steerings position.

Parameters:

fl_speed	front left wheel vehicle speed [rad/s]
fr_speed	front right wheel vehicle speed [rad/s]
rl_speed	rear left wheel vehicle speed [rad/s]
rr_speed	rear right wheel vehicle speed [rad/s]
front_steering	steering position [rad]
rear_steering	steering position [rad]
time	Current time