scoutos / scout / libscout / src / test_behaviors / Odometry_new.h @ beaf9201
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// a smarter Odometry the use RK4 integration
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#ifndef _ODOMETRY_NEW_H_
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#define _ODOMETRY_NEW_H_
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#include "../Behavior.h" |
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#include "../Sensors.h" |
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#include "messages/ScoutPosition.h" |
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#define WHEEL_R 0.025 //this is a virtual unit now... use real values |
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#define WHEEL_B 0.105 // this is a virtual unit now... use real values |
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#define TICKS_PER_REV 48 |
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#define RAD_PER_TICK (2*M_PI/TICKS_PER_REV) |
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#define LOOP_RATE 10 // Hz, integrate 10 times per second |
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#define LOOP_TIME (1.0/LOOP_RATE) // secs |
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typedef struct{ |
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float x;
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float y;
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float theta;
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} posi; |
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class Odometry_new : Behavior{ |
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public:
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/** Set up the odometry node and prepare communications over ROS */
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Odometry_new(std::string scoutname, Sensors* sensors); |
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/** Query encoders and estimate position based on encoder reading */
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void get_position(double loop_time); |
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/** Gets scout position and prints to screen */
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void run();
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private:
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/** ROS publisher and client declaration */
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ros::NodeHandle node; |
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ros::Publisher scout_position; |
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ros::ServiceClient query_encoders_client; |
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messages::ScoutPosition position; |
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std::string name; |
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// FIXME: not sure whether these would overflow....
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int motor_fl_ticks_iter;
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int motor_fr_ticks_iter;
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int motor_bl_ticks_iter;
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int motor_br_ticks_iter;
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int motor_fl_ticks_last;
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int motor_fr_ticks_last;
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int motor_bl_ticks_last;
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int motor_br_ticks_last;
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int scout_theta;
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posi* scout_pos; |
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}; |
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#endif
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