Class which provides a simple wheel (skid steering) odometry. More...

#include <Odometry.hpp>

Inheritance diagram for odometry::SkidOdometry:

Public Types
typedef base::Matrix6d	Matrix6d

typedef base::Vector6d	Vector6d

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SkidOdometry (const Configuration &config, double wheelRadiusAvg, double trackWidth, double wheelBase, const std::vector< std::string > &leftWheelNames, const std::vector< std::string > &rightWheelNames)
	default constructor for wheel odometry class More...

	SkidOdometry (const Configuration &config, double wheelRadiusAvg, double trackWidth, double wheelBase, const std::vector< std::string > &leftWheelNames, const std::vector< std::string > &rightWheelNames, const std::vector< std::string > &leftSteeringNames, const std::vector< std::string > &rightSteeringNames)
	Advanced constructor for wheel odometry class. More...

void	update (Eigen::Vector2d diff, const Eigen::Quaterniond &orientation)
	update method which is called for each new measurement More...

void	update (double d, const Eigen::Quaterniond &orientation)
	update method which is called for each new measurement More...

void	update (const base::samples::Joints &js, const Eigen::Quaterniond &orientation)
	update method which is called for each new measurement More...

void	update (const base::samples::Joints &jsw, const base::samples::Joints &jss, const Eigen::Quaterniond &orientation)
	update method which is called for each new measurement More...

base::Pose	getPoseDelta ()
	provides the mean of the change in pose between the last two update calls More...

Eigen::Matrix3d	getPositionError ()
	Provide the error covariance matrix for the current pose delta. More...

Eigen::Matrix3d	getOrientationError ()
	provide the orientation covariance matrix for the current pose delta More...

Matrix6d	getPoseError ()

base::Pose	getPoseDeltaSample ()
	get a 3d pose sample based on the current state of the odometry More...

base::Pose2D	getPoseDeltaSample2D ()
	provide a 2d pose sample based on the current state of the odometry More...

Public Member Functions inherited from odometry::Gaussian3D
virtual	~Gaussian3D ()

base::Matrix6d	getPoseError ()

Public Member Functions inherited from odometry::Sampling3D
virtual	~Sampling3D ()

Public Member Functions inherited from odometry::Sampling2D
virtual	~Sampling2D ()

Protected Member Functions
double	getTranslation (const std::vector< std::string > &actuatorNames)

double	getRotation (const std::vector< std::string > &actuatorNames)

Protected Attributes
Configuration	config

double	wheelRadiusAvg

double	trackWidth

double	wheelBase

GaussianSamplingPose3D	sampling

Eigen::Quaterniond	orientation

Eigen::Quaterniond	prevOrientation

base::Pose	pose

State< base::samples::Joints >	jointState

State< base::samples::Joints >	steeringJointState

std::vector< std::string >	leftWheelNames

std::vector< std::string >	rightWheelNames

std::vector< std::string >	leftSteeringNames

std::vector< std::string >	rightSteeringNames

Detailed Description

Class which provides a simple wheel (skid steering) odometry.

class is based on a simple skid steering model, where the change in orientation is provided by an IMU, so effectively only the translation comes from a change in wheel position.

Member Typedef Documentation

◆ Matrix6d

typedef base::Matrix6d odometry::SkidOdometry::Matrix6d

◆ Vector6d

typedef base::Vector6d odometry::SkidOdometry::Vector6d

Constructor & Destructor Documentation

◆ SkidOdometry() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW odometry::SkidOdometry::SkidOdometry	(	const Configuration &	config,
		double	wheelRadiusAvg,
		double	trackWidth,
		double	wheelBase,
		const std::vector< std::string > &	leftWheelNames,
		const std::vector< std::string > &	rightWheelNames
	)

default constructor for wheel odometry class

Parameters

config odometry configuration class, mainly setting the error matrix

◆ SkidOdometry() [2/2]

odometry::SkidOdometry::SkidOdometry	(	const Configuration &	config,
		double	wheelRadiusAvg,
		double	trackWidth,
		double	wheelBase,
		const std::vector< std::string > &	leftWheelNames,
		const std::vector< std::string > &	rightWheelNames,
		const std::vector< std::string > &	leftSteeringNames,
		const std::vector< std::string > &	rightSteeringNames
	)

Advanced constructor for wheel odometry class.

Parameters

config odometry configuration class, mainly setting the error matrix

Member Function Documentation

◆ getOrientationError()

Eigen::Matrix3d SkidOdometry::getOrientationError ( )

virtual

provide the orientation covariance matrix for the current pose delta

Returns: orientation error covariance as 3 matrix as axis/angle of rotation

Implements odometry::Gaussian3D.

Reimplemented in odometry::Skid4Odometry.

◆ getPoseDelta()

base::Pose SkidOdometry::getPoseDelta ( )

virtual

provides the mean of the change in pose between the last two update calls

Returns: is a body to previous body transform

Implements odometry::Gaussian3D.

◆ getPoseDeltaSample()

base::Pose SkidOdometry::getPoseDeltaSample ( )

virtual

get a 3d pose sample based on the current state of the odometry

Provides a sample of the pose based on the last two update calls. This is effectively the PoseDelta perturbed by gaussian noise based on the poseError.

Returns: a full body to previous body transform

Implements odometry::Sampling3D.

◆ getPoseDeltaSample2D()

base::Pose2D SkidOdometry::getPoseDeltaSample2D ( )

virtual

provide a 2d pose sample based on the current state of the odometry

Works like the 3d pose sample, but performs a flatting onto a 2d pose.

Returns: a body to previous body transform in 2d

Implements odometry::Sampling2D.

◆ getPoseError()

base::Matrix6d SkidOdometry::getPoseError ( )

◆ getPositionError()

Eigen::Matrix3d SkidOdometry::getPositionError ( )

virtual

Provide the error covariance matrix for the current pose delta.

Returns: position error covariance as 3 matrix

Implements odometry::Gaussian3D.

Reimplemented in odometry::Skid4Odometry.

◆ getRotation()

double SkidOdometry::getRotation ( const std::vector< std::string > & actuatorNames )

protected

helper function that computes the mean angle of the specified actuators

◆ getTranslation()

double SkidOdometry::getTranslation ( const std::vector< std::string > & actuatorNames )

protected

helper function that computes the mean distance traveled by the specified actuators

◆ update() [1/4]

void SkidOdometry::update	(	Eigen::Vector2d	diff,
		const Eigen::Quaterniond &	orientation
	)

update method which is called for each new measurement

Parameters

diff	average of wheel distance travelled within the time step in x and y
orientation	body to world rotation provided by an IMU

◆ update() [2/4]

void SkidOdometry::update	(	double	d,
		const Eigen::Quaterniond &	orientation
	)

update method which is called for each new measurement

Parameters

d	average of wheel distance travelled within the time step
orientation	body to world rotation provided by an IMU

◆ update() [3/4]

void SkidOdometry::update	(	const base::samples::Joints &	js,
		const Eigen::Quaterniond &	orientation
	)

update method which is called for each new measurement

Parameters

js	encodes the current in wheel positions
orientation	body to world rotation provided by an IMU

◆ update() [4/4]

void SkidOdometry::update	(	const base::samples::Joints &	jsw,
		const base::samples::Joints &	jss,
		const Eigen::Quaterniond &	orientation
	)

update method which is called for each new measurement

Parameters

jsw	encodes the current in wheel positions
jss	encodes the current in steering positions
orientation	body to world rotation provided by an IMU

Member Data Documentation

◆ config

Configuration odometry::SkidOdometry::config

protected

Odometry configuration

◆ jointState

State<base::samples::Joints> odometry::SkidOdometry::jointState

protected

◆ leftSteeringNames

std::vector<std::string> odometry::SkidOdometry::leftSteeringNames

protected

◆ leftWheelNames

std::vector<std::string> odometry::SkidOdometry::leftWheelNames

protected

◆ orientation

Eigen::Quaterniond odometry::SkidOdometry::orientation

protected

◆ pose

base::Pose odometry::SkidOdometry::pose

protected

◆ prevOrientation

Eigen::Quaterniond odometry::SkidOdometry::prevOrientation

protected

◆ rightSteeringNames

std::vector<std::string> odometry::SkidOdometry::rightSteeringNames

protected

◆ rightWheelNames

std::vector<std::string> odometry::SkidOdometry::rightWheelNames

protected

◆ sampling

GaussianSamplingPose3D odometry::SkidOdometry::sampling

protected

◆ steeringJointState

State<base::samples::Joints> odometry::SkidOdometry::steeringJointState

protected

◆ trackWidth

double odometry::SkidOdometry::trackWidth

protected

distance between left and right wheel

◆ wheelBase

double odometry::SkidOdometry::wheelBase

protected

distance between front and rear axle

◆ wheelRadiusAvg

double odometry::SkidOdometry::wheelRadiusAvg

protected

avg wheel radius for odometry calculations

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

/build/rock-master-18.09-slam-odometry-0.20170815/src/Odometry.hpp
/build/rock-master-18.09-slam-odometry-0.20170815/src/Odometry.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Matrix6d

◆ Vector6d

Constructor & Destructor Documentation

◆ SkidOdometry() [1/2]

◆ SkidOdometry() [2/2]

Member Function Documentation

◆ getOrientationError()

◆ getPoseDelta()

◆ getPoseDeltaSample()

◆ getPoseDeltaSample2D()

◆ getPoseError()

◆ getPositionError()

◆ getRotation()

◆ getTranslation()

◆ update() [1/4]

◆ update() [2/4]

◆ update() [3/4]

◆ update() [4/4]

Member Data Documentation

◆ config

◆ jointState

◆ leftSteeringNames

◆ leftWheelNames

◆ orientation

◆ pose

◆ prevOrientation

◆ rightSteeringNames

◆ rightWheelNames

◆ sampling

◆ steeringJointState

◆ trackWidth

◆ wheelBase

◆ wheelRadiusAvg