Contains transforms (e.g. differential drive inverse kinematics)
for the various types of mobile robot platforms.
Embedded Control Library
Various representations and transforms relevant to mobile robot
Compiling & Linking
Include the following at the top of any translation unit which
requires this library:
// The error interfaces
You will also need to link to <i>-lecl_mobile_robot</i>.
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).
Pose pose1, pose2;
pose1 << 0,0,Math::pi/2; // comma initialisation
std::cout << pose.x() << pose.y() << pose.heading(); // readable access
std::cout << pose << pose << pose; // vector style access
Pose pose3 = pose1 + pose2; // pose + relative pose
pose1 += pose2; // pose1 + relative pose
pose3 = pose1 - pose2; // calculates pose2 rel pose1
Currently there is only the diff drive kinematics class. This
provides functions for forward and inverse kinematics on a
differential drive type robot.
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
- <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).