root / scout / libscout / src / behaviors / Odometry.h @ 31be19a6
History | View | Annotate | Download (1.05 KB)
1 |
#ifndef _ODOMETRY_H_
|
---|---|
2 |
#define _ODOMETRY_H_
|
3 |
|
4 |
#include "../Behavior.h" |
5 |
|
6 |
|
7 |
#define WHEEL_RADIUS 5 |
8 |
#define WHEEL_CIRCUM (2*M_PI*WHEEL_RADIUS) |
9 |
#define WHEEL_BASE 2 |
10 |
#define ENCODER_COUNT 8800000000 |
11 |
#define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT)
|
12 |
|
13 |
typedef struct{ |
14 |
float x;
|
15 |
float y;
|
16 |
float theta;
|
17 |
} pos; |
18 |
|
19 |
class Odometry : Behavior{ |
20 |
|
21 |
public:
|
22 |
|
23 |
/** Set up the odometry node and prepare communcations over ROS */
|
24 |
Odometry(std::string scoutname); |
25 |
|
26 |
/** Query encoders and estimate position based on encoder reading */
|
27 |
void get_position();
|
28 |
|
29 |
/** Gets scout position and prints to screen */
|
30 |
void run();
|
31 |
|
32 |
private:
|
33 |
|
34 |
/** ROS publisher and client declaration */
|
35 |
ros::NodeHandle node; |
36 |
//TODO: ros::Publisher scout_position;
|
37 |
ros::ServiceClient query_encoders_client; |
38 |
|
39 |
float msg_time_in;
|
40 |
|
41 |
float motor_fl_dist;
|
42 |
float motor_fr_dist;
|
43 |
float motor_bl_dist;
|
44 |
float motor_br_dist;
|
45 |
|
46 |
float motor_fl_ticks;
|
47 |
float motor_fr_ticks;
|
48 |
float motor_bl_ticks;
|
49 |
float motor_br_ticks;
|
50 |
float scout_theta;
|
51 |
|
52 |
pos* scout_pos; |
53 |
}; |
54 |
|
55 |
#endif
|