MotionModel.hpp File Reference

#include <iostream>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <base-logging/Logging.hpp>
#include <Eigen/Geometry>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <Eigen/Cholesky>
#include "KinematicModel.hpp"

Go to the source code of this file.

Classes
struct	odometry::TreeContactPoint
class	odometry::MotionModel< _Scalar, _RobotTrees, _RobotJointDoF, _SlipDoF, _ContactDoF >

Namespaces
	odometry

Detailed Description

This class provided a Motion Model solver for any mobile robot (wheel or leg) with articulated joints.

The solver is based on Weighted Least-Squares as minimizing the error to estimate the resulting motion from a robot Jacobian. Robot Jacobian is understood as the sparse Jacobian matrix containing one Jacobian per each Tree of the Robot. Therefore, it is a minimizing problem of a non-linear system which has been previously linearized around the working point (robot current joint position values). This is represented in the current Jacobian matrix of the robot. This class uses the KinematicModel abstract class (in this library) to access the robot Jacobian and compute the statistical motion model (estimated velocities/navigation quantities).

Further Details at: P.Muir et. al Kinematic Modeling of Wheeled Mobile Robots M. Tarokh et. al Kinematics Modeling and Analyses of Articulated Rovers J. Hidalgo et. al Kinematics Modeling of a Hybrid Wheeled-Leg Planetary Rover J. Hidalgo, Navigation and Slip Kinematics for High Performance Motion Models

Author

Javier Hidalgo Carrio | DFKI RIC Bremen | javie.nosp@m.r.hi.nosp@m.dalgo.nosp@m._car.nosp@m.rio@d.nosp@m.fki..nosp@m.de

Date

June 2013.

Version

1.0.