root / scout / libscout / src / behaviors / Odometry.h @ e203e719
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1 | f79fbce2 | Priya | #ifndef _ODOMETRY_H_
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2 | #define _ODOMETRY_H_
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3 | |||
4 | #include "../Behavior.h" |
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5 | d140fd71 | Yuyang | #include "../Sensors.h" |
6 | 30a3768e | Priya | #include "messages/ScoutPosition.h" |
7 | f79fbce2 | Priya | |
8 | |||
9 | ddfeb111 | Priya | #define WHEEL_RADIUS .2 |
10 | f79fbce2 | Priya | #define WHEEL_CIRCUM (2*M_PI*WHEEL_RADIUS) |
11 | ddfeb111 | Priya | #define WHEEL_BASE 1.2 |
12 | #define ENCODER_COUNT (2*WHEEL_RADIUS*350*M_PI/WHEEL_BASE) |
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13 | f79fbce2 | Priya | #define DIST_PER_TICK (WHEEL_CIRCUM/ENCODER_COUNT)
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14 | |||
15 | typedef struct{ |
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16 | float x;
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17 | float y;
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18 | 31be19a6 | Priya | float theta;
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19 | f79fbce2 | Priya | } pos; |
20 | |||
21 | class Odometry : Behavior{ |
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22 | |||
23 | public:
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24 | |||
25 | /** Set up the odometry node and prepare communcations over ROS */
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26 | d140fd71 | Yuyang | Odometry(std::string scoutname, Sensors* sensors); |
27 | f79fbce2 | Priya | |
28 | /** Query encoders and estimate position based on encoder reading */
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29 | void get_position();
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30 | |||
31 | /** Gets scout position and prints to screen */
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32 | void run();
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33 | |||
34 | private:
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35 | |||
36 | /** ROS publisher and client declaration */
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37 | ros::NodeHandle node; |
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38 | 30a3768e | Priya | ros::Publisher scout_position; |
39 | f79fbce2 | Priya | ros::ServiceClient query_encoders_client; |
40 | 30a3768e | Priya | messages::ScoutPosition position; |
41 | |||
42 | std::string name; |
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43 | f79fbce2 | Priya | |
44 | float msg_time_in;
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45 | 31be19a6 | Priya | |
46 | 3db79f25 | Priya | int motor_fl_dist;
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47 | int motor_fr_dist;
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48 | int motor_bl_dist;
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49 | int motor_br_dist;
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50 | f79fbce2 | Priya | |
51 | 3db79f25 | Priya | unsigned int motor_fl_ticks; |
52 | unsigned int motor_fr_ticks; |
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53 | unsigned int motor_bl_ticks; |
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54 | unsigned int motor_br_ticks; |
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55 | 31be19a6 | Priya | float scout_theta;
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56 | |||
57 | f79fbce2 | Priya | pos* scout_pos; |
58 | }; |
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59 | |||
60 | #endif |