odometry.h

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#pragma once
 
 
#include <ros/time.h>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/stats.hpp>
#include <boost/accumulators/statistics/rolling_mean.hpp>
#include <boost/function.hpp>
 
namespace four_wheel_steering_controller
{
  namespace bacc = boost::accumulators;
 
  class Odometry
  {
  public:
 
    typedef boost::function<void(double, double)> IntegrationFunction;
 
    Odometry(size_t velocity_rolling_window_size = 10);
 
    void init(const ros::Time &time);
 
    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);
 
    double getHeading() const
    {
      return heading_;
    }
 
    double getX() const
    {
      return x_;
    }
 
    double getY() const
    {
      return y_;
    }
 
 
    double getLinear() const
    {
      return linear_;
    }
 
    double getLinearX() const
    {
      return linear_x_;
    }
 
    double getLinearY() const
    {
      return linear_y_;
    }
 
    double getAngular() const
    {
      return angular_;
    }
 
    double getLinearAcceleration() const
    {
      return bacc::rolling_mean(linear_accel_acc_);
    }
 
    double getLinearJerk() const
    {
      return bacc::rolling_mean(linear_jerk_acc_);
    }
 
    double getFrontSteerVel() const
    {
      return bacc::rolling_mean(front_steer_vel_acc_);
    }
 
    double getRearSteerVel() const
    {
      return bacc::rolling_mean(rear_steer_vel_acc_);
    }
 
    void setWheelParams(double steering_track, double wheel_steering_y_offset, double wheel_radius, double wheel_base);
 
    void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
 
  private:
 
    typedef bacc::accumulator_set<double, bacc::stats<bacc::tag::rolling_mean> > RollingMeanAcc;
    typedef bacc::tag::rolling_window RollingWindow;
 
    void integrateXY(double linear_x, double linear_y, double angular);
 
    void integrateRungeKutta2(double linear, double angular);
 
    void integrateExact(double linear, double angular);
 
    void resetAccumulators();
 
    ros::Time last_update_timestamp_;
 
    double x_;        //   [m]
    double y_;        //   [m]
    double heading_;  // [rad]
 
    double linear_, linear_x_, linear_y_;  //   [m/s]
    double angular_; // [rad/s]
 
    double steering_track_;
    double wheel_steering_y_offset_;
    double wheel_radius_;
    double wheel_base_;
 
    double wheel_old_pos_;
 
    size_t velocity_rolling_window_size_;
    RollingMeanAcc linear_accel_acc_;
    RollingMeanAcc linear_jerk_acc_;
    RollingMeanAcc front_steer_vel_acc_;
    RollingMeanAcc rear_steer_vel_acc_;
    double linear_vel_prev_, linear_accel_prev_;
    double front_steer_vel_prev_, rear_steer_vel_prev_;
  };
}