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 Angle &	AngularVelocity () const
	Get the angular velocity. More...
const Angle &	Heading () 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

using clock = std::chrono::steady_clock

Constructor & Destructor Documentation

MecanumDriveOdometry()

MecanumDriveOdometry ( size_t  _windowSize = 10 )

explicit

Constructor.

Parameters

[in]

_windowSize

Rolling window size used to compute the velocity mean

~MecanumDriveOdometry()

~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]

_time

Current 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]

_size

The 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]	_wheelSeparation	Distance between left and right wheels.
[in]	_wheelBase	Distance between front and back wheels.
[in]	_leftWheelRadius	Radius of the left wheel.
[in]	_rightWheelRadius	Radius 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]	_frontLeftPos	Left wheel position in radians.
[in]	_frontRightPos	Right wheel postion in radians.
[in]	_backLeftPos	Left wheel position in radians.
[in]	_backRightPos	Right wheel postion in radians.
[in]	_time	Current 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.

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

• gz/math/MecanumDriveOdometry.hh