pr2_odometry.h

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#include <Eigen/Core>
#include <Eigen/SVD>
#include <nav_msgs/Odometry.h>
#include <pr2_mechanism_controllers/Odometer.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>
 
#include <std_msgs/Float64.h>
#include <pr2_mechanism_controllers/OdometryMatrix.h>
#include <pr2_mechanism_controllers/DebugInfo.h>
 
#include <std_msgs/Bool.h>
#include <pr2_mechanism_controllers/BaseOdometryState.h>
 
namespace controller
{
 
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;
 
 
  class Pr2Odometry : public pr2_controller_interface::Controller
  {
    public:
 
    Pr2Odometry();
 
    ~Pr2Odometry();
 
    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();
 
    void publishTransform();
 
    void publishOdometer();
 
    void publishState();
 
 
    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(const int &index);
 
    OdomMatrix3x1 iterativeLeastSquares(const OdomMatrix16x3 &lhs, const OdomMatrix16x1 &rhs, const int &max_iter);
 
    OdomMatrix16x16 findWeightMatrix(const OdomMatrix16x1 &residual);
 
    double odometer_distance_;
 
    double odometer_angle_;
 
    ros::Time last_time_,current_time_;
 
    geometry_msgs::Point odom_;
 
    geometry_msgs::Twist odom_vel_;
 
    int ils_max_iterations_;
 
    double odometry_residual_max_;
 
    std::string odom_frame_;
 
    std::string base_link_frame_;
 
    std::string base_footprint_frame_;
 
    ros::Time last_publish_time_;
 
    ros::Time last_transform_publish_time_;
 
    ros::Time last_odometer_publish_time_;
 
    ros::Time last_state_publish_time_;
 
    double expected_publish_time_;
 
    double expected_odometer_publish_time_;
 
    double expected_state_publish_time_;
 
    boost::scoped_ptr<realtime_tools::RealtimePublisher <nav_msgs::Odometry> > odometry_publisher_ ;
 
    boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::Odometer> > odometer_publisher_ ;  
 
    boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::BaseOdometryState> > state_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_;
 
    double base_link_floor_z_offset_;
 
    bool publish_tf_;
 
 
    void populateCovariance(const double &residual, nav_msgs::Odometry &msg);
 
    boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::OdometryMatrix> > matrix_publisher_;
    boost::scoped_ptr<realtime_tools::RealtimePublisher <pr2_mechanism_controllers::DebugInfo> > debug_publisher_;
 
    int sequence_;
 
    bool isInputValid();
 
    bool verbose_, publish_odom_, publish_odometer_, publish_state_;
 
    double odom_publish_rate_;
 
    double odometer_publish_rate_;
 
    double state_publish_rate_;
 
    double caster_calibration_multiplier_;
 
    OdomMatrix16x3  cbv_lhs_, fit_lhs_;
    OdomMatrix16x1  cbv_rhs_, fit_residual_, odometry_residual_;
    OdomMatrix16x1  fit_rhs_;
    OdomMatrix16x16 weight_matrix_, w_fit;
    OdomMatrix3x1   cbv_soln_, fit_soln_;
 
    std::string tf_prefix_;
 
  };
}