odometry::Skid4Odometry Class Reference

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

#include <Odometry.hpp>

Inheritance diagram for odometry::Skid4Odometry:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Skid4Odometry (const Configuration &config, double wheelRadiusAvg, double trackWidth, double wheelBase)
	default constructor for wheel odometry class More...
void	update (const BodyState &bs, const Eigen::Quaterniond &orientation)
	update method which is called for each new measurement 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 ()
Eigen::Vector3d	getTranslation ()
Eigen::Vector3d	getVelocity ()
Eigen::Vector3d	getAngularVelocity ()
Eigen::Matrix3d	getVelocityError ()
double	getDeltaYaw ()
Public Member Functions inherited from odometry::SkidOdometry
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...
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 ()

Public Attributes
State< BodyState >	state

Additional Inherited Members
Public Types inherited from odometry::SkidOdometry
typedef base::Matrix6d	Matrix6d
typedef base::Vector6d	Vector6d
Protected Member Functions inherited from odometry::SkidOdometry
double	getTranslation (const std::vector< std::string > &actuatorNames)
double	getRotation (const std::vector< std::string > &actuatorNames)
Protected Attributes inherited from odometry::SkidOdometry
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 from asguard.

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.

Note

currently this class is specific to asguard, but can be made generic quite easily.

Constructor & Destructor Documentation

Skid4Odometry::Skid4Odometry	(	const Configuration &	config,
		double	wheelRadiusAvg,
		double	trackWidth,
		double	wheelBase
	)

default constructor for wheel odometry class

Parameters

config	odometry configuration class, mainly setting the error matrix
asguardConfig	configuration of the asguard body model

Member Function Documentation

Eigen::Vector3d Skid4Odometry::getAngularVelocity

(

)

double Skid4Odometry::getDeltaYaw

(

)

Eigen::Matrix3d Skid4Odometry::getOrientationError ( )

virtual

provide the orientation covariance matrix for the current pose delta

Returns

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

Reimplemented from odometry::SkidOdometry.

base::Matrix6d Skid4Odometry::getPoseError

(

)

Eigen::Matrix3d Skid4Odometry::getPositionError ( )

virtual

Provide the error covariance matrix for the current pose delta.

Returns

position error covariance as 3 matrix

Reimplemented from odometry::SkidOdometry.

Eigen::Vector3d Skid4Odometry::getTranslation

(

)

Eigen::Vector3d Skid4Odometry::getVelocity

(

)

Eigen::Matrix3d Skid4Odometry::getVelocityError

(

)

void Skid4Odometry::update	(	const BodyState &	bs,
		const Eigen::Quaterniond &	orientation
	)

update method which is called for each new measurement

Parameters

bs	encodes the change in wheel positions of the asgaurd
orientation	body to world rotation provided by an IMU

Member Data Documentation

State<BodyState> odometry::Skid4Odometry::state

helper member to store the current and previous bodystates

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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