Gazebo Math

API Reference

6.15.1
MecanumDriveOdometry Class Reference

Computes odometry values based on a set of kinematic properties and wheel speeds for a Mecanum-drive vehicle. More...

#include <MecanumDriveOdometry.hh>

Public Types

using clock = std::chrono::steady_clock
 

Public Member Functions

 MecanumDriveOdometry (size_t _windowSize=10)
 Constructor. More...
 
 ~MecanumDriveOdometry ()
 Destructor. More...
 
const AngleAngularVelocity () const
 Get the angular velocity. More...
 
const AngleHeading () const
 Get the heading. More...
 
void Init (const clock::time_point &_time)
 Initialize the odometry. More...
 
bool Initialized () const
 Get whether Init has been called. More...
 
double LateralVelocity () const
 Get the lateral velocity. More...
 
double LeftWheelRadius () const
 Get the left wheel radius. More...
 
double LinearVelocity () const
 Get the linear velocity. More...
 
double RightWheelRadius () const
 Get the rightwheel radius. More...
 
void SetVelocityRollingWindowSize (size_t _size)
 Set the velocity rolling window size. More...
 
void SetWheelParams (double _wheelSeparation, double _wheelBase, double _leftWheelRadius, double _rightWheelRadius)
 Set the wheel parameters including the radius and separation. More...
 
bool Update (const Angle &_frontLeftPos, const Angle &_frontRightPos, const Angle &_backLeftPos, const Angle &_backRightPos, const clock::time_point &_time)
 Updates the odometry class with latest wheels and steerings position. More...
 
double WheelBase () const
 Get the wheel base. More...
 
double WheelSeparation () const
 Get the wheel separation. More...
 
double X () const
 Get the X position. More...
 
double Y () const
 Get the Y position. More...
 

Detailed Description

Computes odometry values based on a set of kinematic properties and wheel speeds for a Mecanum-drive vehicle.

gz/math/MecanumDriveOdometry.hh

Note: when computing velocity the math currently assumes that all wheels have a radius of 1.0.

A vehicle with a heading of zero degrees has a local reference frame according to the diagram below.

  Y
  ^
  |
  |
  O--->X(forward) 

Member Typedef Documentation

◆ clock

Constructor & Destructor Documentation

◆ MecanumDriveOdometry()

MecanumDriveOdometry ( size_t  _windowSize = 10)
explicit

Constructor.

Parameters
[in]_windowSizeRolling window size used to compute the velocity mean

◆ ~MecanumDriveOdometry()

Destructor.

Member Function Documentation

◆ AngularVelocity()

const Angle& AngularVelocity ( ) const

Get the angular velocity.

Returns
The angular velocity in radian/second.

◆ Heading()

const Angle& Heading ( ) const

Get the heading.

Returns
The heading in radians.

◆ Init()

void Init ( const clock::time_point &  _time)

Initialize the odometry.

Parameters
[in]_timeCurrent time.

◆ Initialized()

bool Initialized ( ) const

Get whether Init has been called.

Returns
True if Init has been called, false otherwise.

◆ LateralVelocity()

double LateralVelocity ( ) const

Get the lateral velocity.

Returns
The lateral velocity in meter/second.

◆ LeftWheelRadius()

double LeftWheelRadius ( ) const

Get the left wheel radius.

Returns
Left wheel radius in meters.

◆ LinearVelocity()

double LinearVelocity ( ) const

Get the linear velocity.

Returns
The linear velocity in meter/second.

◆ RightWheelRadius()

double RightWheelRadius ( ) const

Get the rightwheel radius.

Returns
Right wheel radius in meters.

◆ SetVelocityRollingWindowSize()

void SetVelocityRollingWindowSize ( size_t  _size)

Set the velocity rolling window size.

Parameters
[in]_sizeThe Velocity rolling window size.

◆ SetWheelParams()

void SetWheelParams ( double  _wheelSeparation,
double  _wheelBase,
double  _leftWheelRadius,
double  _rightWheelRadius 
)

Set the wheel parameters including the radius and separation.

Parameters
[in]_wheelSeparationDistance between left and right wheels.
[in]_wheelBaseDistance between front and back wheels.
[in]_leftWheelRadiusRadius of the left wheel.
[in]_rightWheelRadiusRadius of the right wheel.

◆ Update()

bool Update ( const Angle _frontLeftPos,
const Angle _frontRightPos,
const Angle _backLeftPos,
const Angle _backRightPos,
const clock::time_point &  _time 
)

Updates the odometry class with latest wheels and steerings position.

Parameters
[in]_frontLeftPosLeft wheel position in radians.
[in]_frontRightPosRight wheel postion in radians.
[in]_backLeftPosLeft wheel position in radians.
[in]_backRightPosRight wheel postion in radians.
[in]_timeCurrent time point.
Returns
True if the odometry is actually updated.

◆ WheelBase()

double WheelBase ( ) const

Get the wheel base.

Returns
Distance between front and back wheels in meters.

◆ WheelSeparation()

double WheelSeparation ( ) const

Get the wheel separation.

Returns
Distance between left and right wheels in meters.

◆ X()

double X ( ) const

Get the X position.

Returns
The X position in meters

◆ Y()

double Y ( ) const

Get the Y position.

Returns
The Y position in meters.

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