Contains transforms (e.g. differential drive inverse kinematics) for the various types of mobile robot platforms.
Various representations and transforms relevant to mobile robot
platforms.
Include the following at the top of any translation unit which
requires this library:
@code
#include <ecl/mobile_robot.hpp>
// The error interfaces
using ecl::Pose;
using ecl::DifferentialDrive;
@endcode
You will also need to link to <i>-lecl_mobile_robot</i>.
@subsection Pose
This is the classical definition for a mobile robot's state in
a 2D world - [ x, y, heading ].
This class provides a convenient c++ container style interface
as well as a few mathematical operators for calculating
relative poses (differentials).
@code
Pose pose1, pose2;
pose1 << 0,0,Math::pi/2; // comma initialisation
std::cout << pose.x() << pose.y() << pose.heading(); // readable access
std::cout << pose[0] << pose[1] << pose[1]; // vector style access
Pose pose3 = pose1 + pose2; // pose + relative pose
pose1 += pose2; // pose1 + relative pose
pose3 = pose1 - pose2; // calculates pose2 rel pose1
@endcode
@subsection DifferentialDrive
Currently there is only the diff drive kinematics class. This
provides functions for forward and inverse kinematics on a
differential drive type robot.
@code
DifferentialDrive::Kinematics kinematics(0.1,0.5,0.05); // fixed axis length, centre offset, wheel radius
Pose dpose = kinematics.forward(0.2, 0.1); // left and right wheel angle updates -> differential pose
Vector2d wheel_vels = kinematics.inverse(0.1, 0.05); // linear/angular velocites -> left/right wheel angular rates
Vector2d vels = Kinematics::Inverse(pose1,pose2); // orig and final pose -> linear/angular platform velocities
@endcode
- src/sample/pose.cpp
- <b>May 10</b> : extended and fully road-tested pose and differential drive interfaces.
- <b>Jan 10</b> : added transforms used by the iclebo mobile platform (diff drive).