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Improvements in odometry kinematics

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This commit is contained in:
Alexander Lampalzer 2022-06-09 10:25:11 +02:00
parent b3eb01ad6e
commit 80ed5e5bf9
1 changed files with 48 additions and 52 deletions
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100
server_v2/src/OdometryController.cpp
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@ -10,84 +10,80 @@
#define US_IN_S (1000 * MS_IN_S)
bool OdometryController::is_enabled() const {
return enabled;
return enabled;
}
void OdometryController::enable() {
last_run = clock::now();
enabled = true;
last_run = clock::now();
enabled = true;
}
void OdometryController::disable() {
spdlog::debug("OdometryController::disable()");
enabled = false;
OdometryController::reset();
spdlog::debug("OdometryController::disable()");
enabled = false;
OdometryController::reset();
}
void OdometryController::reset() {
std::lock_guard<std::recursive_mutex> lock(odometry_mutex);
current_odometry = Odometry();
last_run = clock::now();
std::lock_guard<std::recursive_mutex> lock(odometry_mutex);
current_odometry = Odometry();
last_run = clock::now();
}
Odometry OdometryController::get() {
return current_odometry;
return current_odometry;
}
OdometryController::OdometryController() {
odometry_thread = std::thread(&OdometryController::odometry_loop, this);
odometry_thread.detach();
odometry_thread = std::thread(&OdometryController::odometry_loop, this);
odometry_thread.detach();
}
[[noreturn]] void OdometryController::odometry_loop() {
auto sleep_duration = std::chrono::microseconds(US_IN_S / ROBOT_ODOMETRY_CONTROLLER_RATE_HZ);
while (true) {
std::this_thread::sleep_for(sleep_duration);
std::lock_guard<std::recursive_mutex> lock(odometry_mutex);
if (enabled) {
last_run = clock::now();
auto encoder_positions = Encoders::getInstance().get_positions();
auto sleep_duration = std::chrono::microseconds(US_IN_S / ROBOT_ODOMETRY_CONTROLLER_RATE_HZ);
while (true) {
std::this_thread::sleep_for(sleep_duration);
std::lock_guard<std::recursive_mutex> lock(odometry_mutex);
if (enabled) {
last_run = clock::now();
auto encoder_positions = Encoders::getInstance().get_positions();
auto current_position_left = encoder_positions.at(ROBOT_ODOMETRY_CONTROLLER_LEFT_PORT) * ROBOT_ODOMETRY_CONTROLLER_LEFT_MULT;
auto current_position_right = encoder_positions.at(ROBOT_ODOMETRY_CONTROLLER_RIGHT_PORT) * ROBOT_ODOMETRY_CONTROLLER_RIGHT_MULT;
auto distance_left = (current_position_left - last_position_left) / ROBOT_TICKS_PER_METER;
auto distance_right = (current_position_right - last_position_right) / ROBOT_TICKS_PER_METER;
last_position_left = current_position_left;
last_position_right = current_position_right;
auto current_position_left =
encoder_positions.at(ROBOT_ODOMETRY_CONTROLLER_LEFT_PORT) * ROBOT_ODOMETRY_CONTROLLER_LEFT_MULT;
auto current_position_right =
encoder_positions.at(ROBOT_ODOMETRY_CONTROLLER_RIGHT_PORT) * ROBOT_ODOMETRY_CONTROLLER_RIGHT_MULT;
auto distance_left = (current_position_left - last_position_left) / ROBOT_TICKS_PER_METER;
auto distance_right = (current_position_right - last_position_right) / ROBOT_TICKS_PER_METER;
last_position_left = current_position_left;
last_position_right = current_position_right;
// The section below implements differential drive kinematics.
// Refer to Computational Principles of Mobile Robotics, Dudek and Jenkin
// or Chapter "Mobile Robot Kinematics" Introduction to Autonomous Mobile Robots, Roland Siegwart
// and Illah R. Nourbakhsh
// The section below implements differential drive kinematics.
// Refer to Computational Principles of Mobile Robotics, Dudek and Jenkin
// or Chapter "Mobile Robot Kinematics" Introduction to Autonomous Mobile Robots, Roland Siegwart
// and Illah R. Nourbakhsh
auto v = (distance_right + distance_left) / 2.0;
auto w = (distance_right - distance_left) / ROBOT_ARBOR_LENGTH_M;
// Forward and Rotational velocity have already been integrated.
auto dist_forward = (distance_right + distance_left) / 2.0;
auto dist_rot = (distance_right - distance_left) / ROBOT_ARBOR_LENGTH_M;
auto curr_x = current_odometry.get_x_position();
auto curr_y = current_odometry.get_y_position();
auto curr_theta = current_odometry.get_angular_orientation();
auto x = dist_forward * cos(dist_rot);
auto y = dist_forward * sin(dist_rot);
auto theta = dist_rot;
auto x = v * cos(w);
auto y = v * sin(w);
auto new_x_position = current_odometry.get_x_position();
auto new_y_position = current_odometry.get_y_position();
auto new_angular_orientation = current_odometry.get_angular_orientation();
auto new_x = curr_x + (cos(curr_theta) * x - sin(curr_theta) * y);
auto new_y = curr_y + (sin(curr_theta) * x + cos(curr_theta) * y);
auto new_theta = curr_theta + w;
if (dist_forward != 0) {
new_x_position = cos(theta) * x - sin(theta) * y + current_odometry.get_x_position();
new_y_position = sin(theta) * x + cos(theta) * y + current_odometry.get_y_position();
}
new_theta = mathUtils::wrap_angle_to_pi(new_theta);
current_odometry = Odometry(new_x, new_y, new_theta);
if (theta != 0) {
new_angular_orientation = mathUtils::wrap_angle_to_pi(current_odometry.get_angular_orientation() + theta);
}
current_odometry = Odometry(new_x_position, new_y_position, new_angular_orientation);
spdlog::info("{:03.4f} {:03.4f} {:03.4f} {:03.4f} {:03.4f} {:03.4f}",
current_position_left, current_position_right,
distance_left, distance_right,
dist_forward, dist_rot);
// spdlog::info("{:03.4f} {:03.4f} {:03.4f} {:03.4f} {:03.4f} {:03.4f}",
// current_position_left, current_position_right,
// distance_left, distance_right,
// dist_forward, dist_rot);
}
}
}
}