steering_odometry::SteeringOdometry Class Reference

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

#include <steering_odometry.hpp>

Public Member Functions
	SteeringOdometry (size_t velocity_rolling_window_size=10)
	Constructor Timestamp will get the current time value Value will be set to zero. More...
void	init (const rclcpp::Time &time)
	Initialize the odometry. More...
bool	update_from_position (const double traction_wheel_pos, const double steer_pos, const double dt)
	Updates the odometry class with latest wheels position. More...
bool	update_from_position (const double right_traction_wheel_pos, const double left_traction_wheel_pos, const double steer_pos, const double dt)
	Updates the odometry class with latest wheels position. More...
bool	update_from_position (const double right_traction_wheel_pos, const double left_traction_wheel_pos, const double right_steer_pos, const double left_steer_pos, const double dt)
	Updates the odometry class with latest wheels position. More...
bool	update_from_velocity (const double traction_wheel_vel, const double steer_pos, const double dt)
	Updates the odometry class with latest wheels position. More...
bool	update_from_velocity (const double right_traction_wheel_vel, const double left_traction_wheel_vel, const double steer_pos, const double dt)
	Updates the odometry class with latest wheels position. More...
bool	update_from_velocity (const double right_traction_wheel_vel, const double left_traction_wheel_vel, const double right_steer_pos, const double left_steer_pos, const double dt)
	Updates the odometry class with latest wheels position. More...
void	update_open_loop (const double v_bx, const double omega_bz, const double dt)
	Updates the odometry class with latest velocity command. More...
void	set_odometry_type (const unsigned int type)
	Set odometry type. More...
double	get_heading () const
	heading getter More...
double	get_x () const
	x position getter More...
double	get_y () const
	y position getter More...
double	get_linear () const
	linear velocity getter More...
double	get_angular () const
	angular velocity getter More...
void	set_wheel_params (const double wheel_radius, const double wheelbase=0.0, const double wheel_track=0.0)
	Sets the wheel parameters: radius, separation and wheelbase.
void	set_velocity_rolling_window_size (const size_t velocity_rolling_window_size)
	Velocity rolling window size setter. More...
std::tuple< std::vector< double >, std::vector< double > >	get_commands (const double v_bx, const double omega_bz, const bool open_loop=true, const bool reduce_wheel_speed_until_steering_reached=false)
	Calculates inverse kinematics for the desired linear and angular velocities. More...
void	reset_odometry ()
	Reset poses, heading, and accumulators.

Detailed Description

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

Constructor & Destructor Documentation

SteeringOdometry()

steering_odometry::SteeringOdometry::SteeringOdometry ( size_t  velocity_rolling_window_size = 10 )

explicit

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

Member Function Documentation

get_angular()

double steering_odometry::SteeringOdometry::get_angular ( ) const

inline

angular velocity getter

Returns

angular velocity [rad/s]

get_commands()

std::tuple< std::vector< double >, std::vector< double > > steering_odometry::SteeringOdometry::get_commands	(	const double	v_bx,
		const double	omega_bz,
		const bool	open_loop = true,
		const bool	reduce_wheel_speed_until_steering_reached = false
	)

Calculates inverse kinematics for the desired linear and angular velocities.

Parameters

v_bx	Desired linear velocity of the robot in x_b-axis direction
omega_bz	Desired angular velocity of the robot around x_z-axis
open_loop	If false, the IK will be calculated using measured steering angle
reduce_wheel_speed_until_steering_reached	Reduce wheel speed until the steering angle has been reached

Returns

Tuple of velocity commands and steering commands

get_heading()

double steering_odometry::SteeringOdometry::get_heading ( ) const

inline

heading getter

Returns

heading [rad]

get_linear()

double steering_odometry::SteeringOdometry::get_linear ( ) const

inline

linear velocity getter

Returns

linear velocity [m/s]

get_x()

double steering_odometry::SteeringOdometry::get_x ( ) const

inline

x position getter

Returns

x position [m]

get_y()

double steering_odometry::SteeringOdometry::get_y ( ) const

inline

y position getter

Returns

y position [m]

init()

void steering_odometry::SteeringOdometry::init

(

const rclcpp::Time &

time

)

Initialize the odometry.

Parameters

time	Current time

set_odometry_type()

void steering_odometry::SteeringOdometry::set_odometry_type

(

const unsigned int

type

)

Set odometry type.

Parameters

type	odometry type

set_velocity_rolling_window_size()

void steering_odometry::SteeringOdometry::set_velocity_rolling_window_size

(

const size_t

velocity_rolling_window_size

)

Velocity rolling window size setter.

Parameters

velocity_rolling_window_size

Velocity rolling window size

update_from_position() [1/3]

bool steering_odometry::SteeringOdometry::update_from_position	(	const double	right_traction_wheel_pos,
		const double	left_traction_wheel_pos,
		const double	right_steer_pos,
		const double	left_steer_pos,
		const double	dt
	)

Updates the odometry class with latest wheels position.

Parameters

right_traction_wheel_pos	Right traction wheel position [rad]
left_traction_wheel_pos	Left traction wheel position [rad]
right_steer_pos	Right steer wheel position [rad]
left_steer_pos	Left steer wheel position [rad]
dt	time difference to last call

Returns

true if the odometry is actually updated

Update old position with current:

update_from_position() [2/3]

bool steering_odometry::SteeringOdometry::update_from_position	(	const double	right_traction_wheel_pos,
		const double	left_traction_wheel_pos,
		const double	steer_pos,
		const double	dt
	)

Updates the odometry class with latest wheels position.

Parameters

right_traction_wheel_pos	Right traction wheel velocity [rad]
left_traction_wheel_pos	Left traction wheel velocity [rad]
steer_pos	Steer wheel position [rad]
dt	time difference to last call

Returns

true if the odometry is actually updated

Update old position with current:

update_from_position() [3/3]

bool steering_odometry::SteeringOdometry::update_from_position	(	const double	traction_wheel_pos,
		const double	steer_pos,
		const double	dt
	)

Updates the odometry class with latest wheels position.

Parameters

traction_wheel_pos	traction wheel position [rad]
steer_pos	Steer wheel position [rad]
dt	time difference to last call

Returns

true if the odometry is actually updated

Update old position with current:

update_from_velocity() [1/3]

bool steering_odometry::SteeringOdometry::update_from_velocity	(	const double	right_traction_wheel_vel,
		const double	left_traction_wheel_vel,
		const double	right_steer_pos,
		const double	left_steer_pos,
		const double	dt
	)

Updates the odometry class with latest wheels position.

Parameters

right_traction_wheel_vel	Right traction wheel velocity [rad/s]
left_traction_wheel_vel	Left traction wheel velocity [rad/s]
right_steer_pos	Right steer wheel position [rad]
left_steer_pos	Left steer wheel position [rad]
dt	time difference to last call

Returns

true if the odometry is actually updated

update_from_velocity() [2/3]

bool steering_odometry::SteeringOdometry::update_from_velocity	(	const double	right_traction_wheel_vel,
		const double	left_traction_wheel_vel,
		const double	steer_pos,
		const double	dt
	)

Updates the odometry class with latest wheels position.

Parameters

right_traction_wheel_vel	Right traction wheel velocity [rad/s]
left_traction_wheel_vel	Left traction wheel velocity [rad/s]
steer_pos	Steer wheel position [rad]
dt	time difference to last call

Returns

true if the odometry is actually updated

update_from_velocity() [3/3]

bool steering_odometry::SteeringOdometry::update_from_velocity	(	const double	traction_wheel_vel,
		const double	steer_pos,
		const double	dt
	)

Updates the odometry class with latest wheels position.

Parameters

traction_wheel_vel	Traction wheel velocity [rad/s]
steer_pos	Steer wheel position [rad]
dt	time difference to last call

Returns

true if the odometry is actually updated

update_open_loop()

void steering_odometry::SteeringOdometry::update_open_loop	(	const double	v_bx,
		const double	omega_bz,
		const double	dt
	)

Updates the odometry class with latest velocity command.

Parameters

v_bx	Linear velocity [m/s]
omega_bz	Angular velocity [rad/s]
dt	time difference to last call

Save last linear and angular velocity:

Integrate odometry:

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The documentation for this class was generated from the following files:

• ros2_controllers/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
• ros2_controllers/steering_controllers_library/src/steering_odometry.cpp